ROS metapackage for robot trajectory execution

Description

This ROS metapackage provides two packages for trajectory execution by a UR3 cobot using two different methods. The first one is based on MoveIt! and the second one on a Cartesian Velocity Controller(CVC).

Input Trajectory

The input trajectory consists of a list of 3D waypoints in the form of trajectory_custom_msgs/PointStampedArray message.

Launch files

• Moveit!: roslaunch moveit_trajectory_execution moveit_trajectory_execution.launch

• CVC: roslaunch control_trajectory_execution control_trajectory_execution.launch

Arguements

• CVC
• smooth: True if the input trajectory is a Bezier Curve.