Restructure controller manager files #10
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There are 3 basic MoveIt controller manager plugins: - fake = `moveit_fake_controller_manager/MoveItFakeControllerManager` Used in demo.launch. Doesn't really control the robot, but just interpolates between via points. Allows these execution_types: - via points: just jumps to the via points - interpolate: linearly interpolates between via points (default) - last point: jumps to the final trajectory point (used for fast execution testing) - ros_control = `moveit_ros_control_interface::MoveItControllerManager` Interfaces to ros_control controllers. - simple = `moveit_simple_controller_manager/MoveItSimpleControllerManager` Interfaces to action servers for `FollowJointTrajectory` and/or `GripperCommand` that in turn interface to the low-level robot controllers However, so far move_group.launch distinguished between `fake` and `robot` only. The argument moveit_controller_manager now allows to switch between all 3 variants.
to run ROS controllers virtually provided by https://github.com/PickNikRobotics/moveit_sim_controller Usage: roslaunch panda_moveit_config demo.launch moveit_controller_manager:=ros_control roslaunch panda_moveit_config moveit_sim_controller.launch
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Closing in favour of moveit#92. |
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There are 3 basic MoveIt controller manager plugins:
fake=moveit_fake_controller_manager/MoveItFakeControllerManagerUsed in
demo.launch. Doesn't really control the robot, but just interpolates between via points. Allows theseexecution_types:via points: just jumps to the via pointsinterpolate: linearly interpolates between via points (default)last point: jumps to the final trajectory point (used for fast execution testing)ros_control=moveit_ros_control_interface::MoveItControllerManagerInterfaces to
ros_controlcontrollers.The package
moveit_sim_controlleroffers a fake controller complying to the ros_control API.simple=moveit_simple_controller_manager/MoveItSimpleControllerManagerInterfaces to action servers for
FollowJointTrajectoryand/orGripperCommandthat in turn interface to the low-level robot controllersHowever, so far
move_group.launchdistinguished betweenfakeandrobotonly.The argument
moveit_controller_managernow allows switching between all 3 variants.I suggest adapting MSA templates appropriately as well. What do you think, @v4hn, @rickstaa?