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Improve example_7: Trajectory generation and plugin #431

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christophfroehlich opened this issue Jan 16, 2024 · 0 comments

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christophfroehlich commented Jan 16, 2024 •

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The IK solver is called with a twist in tool frame and generates a velocity vector in joint space, which is then integrated to positions. That's why the velocity is not zero in the end: one should probably add another field to the message with the last position (is discarded now) and zero velocity.
Maybe the hardware plugin should be improved in a future PR using both position+velocity fields.

Originally posted by @christophfroehlich in #430 (comment)

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