Hello everyone,
I have the following two issues to solve:
#1
I would like to control the velocity of the path execution of the UR5 robot. At the moment, I'm using the UR5 ROS-Industrial driver and MoveIt!. In the test_move.py of UR driver I've found a velocity vector, which is somehow looking like 'velocities=[0]*6'.
In my application I would like to call the velocity function in C++ or Python code. Maybe someone could tell me how to use or call the velocity functions for path planning and executing.
#2
The second issue is, that I would like to record and replay a trajectory, which was calculated by the MoveIt! pathplanning. The idea behind this is to recall the existing trajectory instead of calculating it every time for a well known path.
Solutions, which came into my mind are to record a bagfile for trajectory topic or to use the MongoDB. I'm not sure if this approach is the correct one. Particularly, I don't want to set up a database to record a trajectory in case of MongoDB. A single data file containing the trajectory values would be suitable for my issue.
Thanks for helping in advance. You will also find this post in the ROS-I mailinglist, but after quite some time of waiting I din't get any answers.
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