This package implements a series of fake trajectory controllers for MoveIt -- to be used in simulation. For example, the demo.launch generated by MoveIt's setup_assistant, employs fake controllers for nice visualization in rviz.

For configuration, edit the file config/fake_controllers.yaml, and adjust the desired controller type. The following controllers are available:

• interpolate: perform smooth interpolation between via points - the default for visualization
• via points: traverse via points, w/o interpolation in between - useful for visual debugging
• last point: warp directly to the last point of the trajectory - fastest method for offline benchmarking

fake_interpolating_controller_rate: 10 (Hz)
controller_list:
  - name: fake_arm_controller
    type: interpolate | via points | last point
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4
      - joint_5
      - joint_6
  - name: fake_gripper_controller
    joints:
      []

In order to load an initial pose, one can have a list of (group, pose) pairs as follows:

initial:
  - group: arm
    pose:  home