Hi everybody,
I got from Yaskawa the MotoPlus runtime package and I installed the `motoman_driver` packages.
I also used the `move_to_joint.py` to move the robot and wrote my own c++-Application sending the robot (publishing it in the `joint_path_command` topic) a `JointTrajectory` defined by a simple `JointTrajectoryPoint`.
This works quite good. I have also some experience IkFast to make the Ik ond FK- Transformations.
But now I want to be able to send an whole path to the robot and to plan the path.
I have basically no idea how I could do this. I think I should use MoveIt!, but there are no specefications on the MoveIt! Homepage for my robot.
Could you explain me which packages I may need to install for this and which kind of message I have to publish whereever? Or is there an example or Tutorial for this?
Thank you!
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