MoveIt
Dynamically adjust trajectory #3345
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agraussgrimbergen
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Hi, for a project we are using a sensor to measure the distance from the end-effector tool tip to some surface. We are currently generating a rough trajectory to move over this surface. But we would like to execute this trajectory and during execution move closer/further from this object according the data from the distance sensor.
So basically doing small adjustments to a trajectory during execution.
Do you have any advice on how to tackle this problem with MoveIT2? Maybe writing some custom plugins?
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