Forums Niryo One Programming Niryo One About a trajectory control with "python api"

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  • S.Imura
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    Post count: 9

    Hello everyone!

    I recently purchased Niryo One and are learning about robot control.

    I want to execute trajectory control with Niryo One.
    “MoveIt!” Proved that Cartesian Paths can be realized by using Move Group (C ++ and Python).
    In addition, I read a report that trajectory control was possible using Python API in Niryo One Forum.

    But I couldn’t find about “Compute_caratesian_path” below URL.
    https://github.com/NiryoRobotics/niryo_one_ros/tree/master/niryo_one_python_api

    The Python API in this case is
    As shown in “catkin_ws / src / niryo_one_ros / niryo_one_python_api / examples”
    Should I add moveit (-Compute_cartesian_path ()) to the description of niryo_one_python_api?

    Or do I need to create a ROS node apart from niryo_one_python?

    I want to build a program that receives the GPIO signal of Niryo (Raspberry Pi) and starts trajectory control.
    If there is a way to add to niryo_one_python_api, I think that is good.

    • This topic was modified 9 months ago by S.Imura.
    S.Imura
    Participant
    Post count: 9

    I mixed and used “moveit_python_api” and “niryo_one_python_api” for Trajectory control, but it worked!

    Thank you.

    S.Imura
    Participant
    Post count: 9

    When using this method, trajectory control was possible, but the velocity could not be specified during trajectory control.

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