OK, thanks for the feedback. > The FollowJointTrajectory action interface might not be fast enough You might be right for some robot models. On UR robots, it's fine. Velocity control helps in that regard. I think the other two who have used it on custom robots are doing: * Position control * They are not using ros_control but have written their own low-level controllers. I will have to confirm this for @machinekoder 's case. I believe it's also being used on a Motoman arm, so I'll check for details there as well. It does mimic some of the capabilities of computeCartesianPath but I don't think you can achieve smooth compliance or teleoperation with computeCartesianPath() and an OMPL planner. I have tried and it wasn't fast enough. BTW I added a library for compliance into the devel branch. I would like to get to the point where DARPA Challenge tasks like turning a valve with two grippers, with compliance, is supported just as well as MoveIt! supports point-to-point motion. --- [Visit Topic](https://discourse.ros.org/t/a-real-time-motion-planner/4354/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: