Sending joint trajectory to the robot about iiwa_stack HOT 8 OPEN

Hi @LinYuChi,

we do not plan to include such a functionality, since it is not offered by Sunrise's SmartServo. Implementing it from scratch (and maintaining it) would be a great effort.

Is there a reason why you cannot use the standard JointTrajectoryActionController from ros_control? Maybe we could document how to start it without MoveIt.

from iiwa_stack.

Hi @marcoesposito1988 ,

Thank you for the reply. We just got our iiwa 7 arm recently and start to see how to move it through ROS. We will do some motion planning in configuration space to generate a joint trajectory and send them to the robot to execute it. A document, a short guide or a reference on how to do this with iiwa_stack would be greatly helpful.

I am also wondering if it is possible to send joint velocity command to the robot? Thank you.

from iiwa_stack.

You can do all of this with MoveIt. Do you have a specific need for which it is not suitable? Otherwise I would advise you to go for it. You can find the related information here.

from iiwa_stack.

Joint velocity command will also be supported soon (we have an implementation we are testing).

from iiwa_stack.

The major reason is that the framework we are using is OpenRAVE, which is kind of overlapping with MoveIt, so I would prefer not to depend on MoveIt. But since MoveIt can do it, I will look into the source code to find out how they do it. I am also looking forward to see the update. Thank you very much.

from iiwa_stack.

Sounds legit! I will document how to start the robot with only the JointTrajectory controller, without MoveIt.

from iiwa_stack.

Great! Thank you.

from iiwa_stack.

Sounds legit! I will document how to start the robot with only the JointTrajectory controller, without MoveIt.

Hi, Marco. Any news on that? We would like to control the robot via JointTrajectory Messages.

If not possible, is there any way to perform this by passing the command direct to the Robot Controller?

Thank you.

from iiwa_stack.