Hello,
I’m trying to demonstrate pick and place in gazebo by using moveit to plan trajectory.
[Here](https://github.com/mvish7/moveit_gazebo_integration/blob/master/moveit_interface.cpp) is the code which i’m using, this is code is very much inline with moveit pick-n-place [tutorials](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pick_place/pick_place_tutorial.html).
I’m not able to understand the impact of time_from_start parameter used in open_gripper and close_gripper functions. I have read about [this](https://answers.ros.org/question/50610/the-meaning-of-velocities-accelerations-and-time_from_start-in-jointtrajectorypointmsg/) previous queston on community but it couldn’t solve my queries.
my questions are as follows:
1) What is the exact meaning and importance of parameter time_from_start in trajectory_msgs used in above pointed tutorial?
2) what significant the parameter time_from_start has on when the gripper is opened and closed?
3) Why the value of duration is hardcoded and how can i make it generic if it is possible?
4) Can i relate his time_from_start with sim_time or real_time parameters seen in gazebo??
i’ll appreciate any leads as it will help me to solve the problems about gripper opening and closing!
Thanks,
Vishal
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