[ros-users] [Discourse.ros.org] [MoveIt!] A real-time motion planner?

[Andy]

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.





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