Hi,
I have a question about MoveIt and its capabilities: I have a robot which only can be controlled by joint poses (6DoF). Well If I'm trying to use MoveIt it generates the joint poses and velocities too. My problem is that I only can control the robot with joint poses, so I cannot send it velocity parameters. If I only send the joint poses and want the robot to move the end effector down, it doesn't follow a straight line. Is there a way to make MoveIt generate the joint poses without velocities, but with the result of a good end-effector moving? Like go from A to B through N steps. 1. step: Only move joint 1 by 0.02 rad, step 2. joint 1 by 0.04rad AND joint 1. by 0.001 rad and so on, but with have the end-effector move in a straight line?
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