I am new to Moveit so please forgive me for gaps in knowledge.
I want to be able to upload a collection of cartesian points (which create a surface) taken from a scanner into Moveit and plan a joint path for my robot model to move along and normal to the surface while avoiding collisions.
I am able to upload my model and I have the points and can convert them to whatever data type I would need, but I am unsure of how to actually upload it into Moveit to be able to use for path planning. Also once I have both the robot and surface in Moveit, how do I create my desired joint trajectory and save it as I am unable to send commands directly to the robot because I am working with an older ABB S4C+ controller that is only able to receive remote commands through FTP of RAPID code?
Does anyone have any sample code or advice that could help me do this?
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