MoveIt2 & ROS2 Commanding Motion
The following demo can be found on the Copley Controls GitHub page here: https://github.com/CopleyControlsOffi...
The Copley Motion Library used MoveIt2 to calculate the commanded positions to send to the 7 axis linkage. CML calculated velocities that produced constant acceleration during the move. CML sent the positions, velocities, and times in the form of PVT points over the CANopen network.