In the actual implementation of the arm_joint_server is possible to move each joint using Moveit! through the use of a planner, but it has been found that for certain tasks it might not be utterly necessary to plan the XArm movement, which requires time. In order to have an alternative tool to move each joint independently, a new service will be added to arm_joint_server which will execute the movements through the XArm SDK that was used previously for serving breakfast.
In the actual implementation of the arm_joint_server is possible to move each joint using Moveit! through the use of a planner, but it has been found that for certain tasks it might not be utterly necessary to plan the XArm movement, which requires time. In order to have an alternative tool to move each joint independently, a new service will be added to arm_joint_server which will execute the movements through the XArm SDK that was used previously for serving breakfast.