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moveit / moveit_ros

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Copy fake_joint_trajectory_controller from baxter_moveit_config #708

Closed wkentaro closed 7 years ago

wkentaro commented 8 years ago

As proposed in https://github.com/ros-planning/moveit_robots/pull/44#issuecomment

v4hn commented 8 years ago

Great, thanks for the request! Could you please address the points I commented on?

wkentaro commented 8 years ago

Fixed.

rhaschke commented 7 years ago

I'm wondering why this controller doesn't filter the param /move_group/controller_list for its type. As far as I can see, this makes it impossible to use this controller together with other ones in a multi-group system. However, maybe I missed something.

davetcoleman commented 7 years ago

This is certainly a needed feature. I'm concerned this is duplicate functionality as the FakeController and we should just have one or the other within the MoveIt! repos. I'm a fan of https://github.com/ros-planning/moveit_plugins/pull/20 because it simply enhances a previously existing and commonly used controller rather than add another one.

Another feature I would like to see is the ability to specify a robot pose from the SRDF as the initial starting state of the robot. I've found this a much needed feature in the past during my development.

I also want to point out a similar package I made a couple years ago - moveit_sim_controller that does the same thing as both of these PRs. It already has the initial start state capability and even better - it is built on ros_control so you can use the same controllers and interfaces as you would on a real robot. However, it would add most of ros_control as a dependency to MoveIt! and I'm not interested in tackling making this the default fake controller for MoveIt! right now.

v4hn commented 7 years ago

Closing. This functionality is now provided in https://github.com/ros-planning/moveit_plugins/pull/23 in a more general and reusable way.