Hi there,
I have develop a driver for the KUKA LWR 4+ by use of the FRI Library.
The driver designed like the [ros-i driver spec](http://wiki.ros.org/Industrial/Industrial_Robot_Driver_Spec) and so it works also with MoveIt!
If I plan a trajectory with MoveIt I will get a trajectory_msgs::JointTrajectory message with the waypoints. But how to interpolate correctly between the points?
I have a internal cycle time of 1ms and need to sample the trajectory down to this constant interval. Do I really need to build up splines based on the waypoints or can I tell MoveIt to sample the trajectory with 1ms?
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