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