Code Used in this Tutorial Available
Code can be found at moveit_tutorials repository in doc folder. Use kinetic-devel branch.
Controller Manager Tutorials¶
MoveIt! comes with a series of fake trajectory controllers to be used in simulation.
For example, the
demo.launch generated by MoveIt’s setup assistant, employs fake controllers for nice visualization in rviz.
For configuration, edit the file
config/fake_controllers.yaml, and adjust the desired controller type.
The following controllers are available:
- interpolate: perform smooth interpolation between via points - the default for visualization
- via points: traverse via points, w/o interpolation in between - useful for visual debugging
- last point: warp directly to the last point of the trajectory - fastest method for offline benchmarking
YAML file examples¶
rate: 10 (Hz, used for interpolation controller) controller_list: - name: fake_arm_controller type: interpolate | via points | last point joints: - joint_1 - joint_2 - joint_3 - joint_4 - joint_5 - joint_6 - name: fake_gripper_controller joints: 
In order to load an initial pose, one can have a list of (group, pose) pairs as follows:
initial: - group: arm pose: home
Open Source Feedback
See something that needs improvement? Please open a pull request on this GitHub page