Normally the user uses the [moveit move group interface](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html) to send command to the robot.
However, as described in another [post](https://answers.ros.org/question/265794/moveit-visual-servoing/#), the user can also uses `setFromIK` from the [Kinematic model](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/kinematics/src/doc/kinematic_model_tutorial.html) to achieve higher control rate. I presume this is because the planning part is skipped in the example?
My question is how can I command the robot when having a set of desired joint values (say obtained from the `setFromIK`)?
I know the moveit move group interface can set joint/pose goal, however, the robot would do the planning steps again which takes a some time. What if I don't want the planning as the desired pose/position will be close to the current one (similar to the scenario in the above mentioned [post](https://answers.ros.org/question/265794/moveit-visual-servoing/#))?
↧