MoveIt2! controller does not allow for commands to be removed midway through motion

TechmanRobotInc / tmr_ros2

TM Robots supporting ROS2 drivers and some extended external applications. (experimental) (not support the new TM S-Series)

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MoveIt2! controller does not allow for commands to be removed midway through motion #10

Open CFZeon opened 3 years ago

CFZeon commented 3 years ago

When the PlanningComponent from MoveIt2! induces the execute() method, The path is calculated and all the PvtPoints are spontaneously sent. Is it possible to remove the rest of the PvtPoints from the robot mid-motion then calculate a new set of points to move there immediately?