Hello fellow ros developers,
I made what i think is a useful addition to Moveit
This is custom action servers to interface with your Moveit robot.
That way we can customize the behavior of what the default moveit action servers implement
Usefull as an interface for highel level behavior packages like FlexBe and behavior trees
Currently it implements two action servers with 3 instances
Move to Joint Space Action server (gripper and arm)
Receives goal targets in Joint Space
Move to Cartesian Space Action Server
Receives goal targets in Cartesian Space relative to a TF frame
(Optional) with hardcoded constraint that keeps the current orientation of
the end effector during the execution of the plan
Well documented to change the configuration files and send some example goals
I would love the feedback!
pose arm relative to end effector two times in a row
pose arm relative to end effector with orientation constraint