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plusone-robotics / moveit_simple

A wrapper around MoveIt that enables more traditional industrial robot programming.
Apache License 2.0
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WIP: Add trajectory training service interface #73

Closed aaronplusone closed 5 years ago

aaronplusone commented 5 years ago

@shaun-edwards please review. WIP pending functional testing.

Extends lookupTrajectoryPoint to also check for point info from a TrajectoryTrainer service, and adds a new TrajectoryPoint type CombinedTrajectoryPoint.

Trainer service definition and CombinedJointPoint message types are defined in new moveit_simple_msgs package.