I've been working with moveit for the past two weeks. However, I am trying to do visual servoing with my robot, but I cannot find any example about moveit with visual servoing. I know that using moveit with API is always plan for the next movement which delays the process.
I try to use my visual servoing with planning in python I get really slow running (2Hz). I change to c++ and I get faster progress which is (10Hz). 10Hz is fine but still, the planning is not required in this process, especially the end_effector move by the small change from the old position.
is there any way I can stop the planning, or just generating the joint angle from the position so I can start with the current position and then add the difference.
I've been thinking about using IK_service but I am not sure if it will be fast enough to do visual servo.
any advice will really help.
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