MoveIt
How to cancel a MoveIt2 generated trajectory with a controlled stop? #3300
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jacob-kruse
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Hello,
I am utilizing the MoveIt2 Python API to motion plan with a Kuka LBR iisy 3 r760 robotic manipulator. I was wondering if there was a way to interrupt the robot while it is executing a trajectory and have it come to a gradual stop. Basically, I am trying to execute a controlled stop on command without having to use the Emergency Stop (effective, but rough on the robot). I have tried cancelling the goal and have found that although this works, it comes to an immediate, abrupt stop which I am trying to avoid. Any suggestions?
Jacob Kruse
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