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tesseract-robotics / tesseract_ros

ROS Interface for the Tesseract Planning Environment.
http://tesseract-docs.rtfd.io
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Is it the plan result produced by tesseract is "trajopt/display_tesseract_trajectory" to drive real robot #175

Open dbdxnuliba opened 1 year ago

dbdxnuliba commented 1 year ago

Is it the plan result produced by tesseract is "trajopt/display_tesseract_trajectory" and I subscribe this topic in robot driver such as ur_driver ,to driver real robot, is there a interface like follow_joint_trajectory to driver real robot such as moveit provided.

Levi-Armstrong commented 1 year ago

The results should be return when you make a planning request. Then you must create a FollowJointTrajectoryAction and submit it to execute the trajectory. There is a conversion utility to convert the composite to the Trajectory message needed by the action.

dbdxnuliba commented 1 year ago

ok, where can I found the code to show usage demo about conversion utility and planning request