I have just started using moveit and have implemented the multi-degree of freedom joint type described here https://www.wilselby.com/research/ros-integration/3d-mapping-navigation/. Though when I generate a trajectory it currently only publishes the transforms and not the velocities or accelerations. I assume this is something moveit can produce? Is this a flag in my launch file? or is it my lack of understanding of the custom join?
↧