Hi
I have been looking at some developments in machinekit, which I understand is an lcnc offshoot, where people are trying to pass trajectory streams from a ROS moveit planner directly to machinekit, using the HAL ringbuffer(?).
This is useful or a number of reasons. One is that ROS currently lacks drivers for mesa cards (or at least none that I can find). Two is that in robotic perception tasks, where pointcloud data is used to create a 3d model of a real world setup, ROS can generate paths on the fly around the obstacles in order to e.g. pick up one item on a table without disturbing others.
I've seen some discussion here before about generating individual jobs in a ROS node and sending them to linuxcnc, however this ringbuffer method sounds intriguing. See "jplan, ring buffers and, trajectory playout" on this page
machinekoder.com/machinekit-ros-open-source-robots/
.
Is this something that is feasible in linuxcnc, and how might I go about it technically?
Cheers
