Can anyone comment on (or link to) the current state and/or future plans of MoveIt!'s Cartesian functionality? Maybe I am off base or missing something but I feel that MoveIt! lacks in terms of general support for such motions.
I am aware of things like the Cartesian Path Planner Plugin and `moveit::planning_interface::MoveGroupInterface::computeCartesianPath` but these seems to assume "as fast as possible"
motions and/or require subsequent custom time parameterization by the user. What about support for linear moves with Cartesian velocity limits/targets that are supported by basically all industrial robot controller (e.g., movelin, circ, constant velocity splines, blending, etc.).
I would be happy to help develop on such a front (and even have some stuff implemented already) but admittedly don't know what all exists to date or if anything is planned. Is this wanted by the community and, if so, where do I start?
Something to live in `moveit_core/trajectory_processing` possibly?
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