partnerrobotchallengevirtual / common-unity Goto Github PK

Hi!

I have been playing around with the simulation over the weekend and noticed that the joint trajectory interface currently only uses the first trajectory point.

If you want to use Moveit you also need an action interface for the trajectory controllers.
I forked this repo and added support for multiple trajectory points.

Got Moveit working by setting up action servers on the ROS side. Here is a video of that:
https://www.youtube.com/watch?v=BmsKlj1p42Q&feature=youtu.be

Is there a specific reason you have chosen to use trajectory interfaces to the simulator instead of ros_control compatible hardware interfaces (position, velocity, effort) like in gazebo?