How is the real-time control achieved? Is Moveit used in this project?

[stevensu1838]

Hi team,

I am trying to control a robot manipulator instead of a Baxter robot. So I can't use your package directly. I've got a question on how the real-time control of baxter is achieved on ROS side? Is Moveit used in this project? If not, how did you do it. I know you can use a game joystick to control each joint of the baxter arm but it is not your way apparently.

I think about jointing several trajectories together into a single smooth movement with Moveit. The main challenge with this is that as standard MoveiIt will project trajectories who's start and end velocities are zero, this mean that if you join them together the motion will 'stutter' as the arm stops and starts between trajectories. So the control of robot arm won't be as good as yours. Can you please tell me a bit on how you made it.

Much appreciated if you could show me these related scripts for robot arm real-time control in your package.

Thank you a million.

BR,
Steven