Does the industrial core support the real-time trajectory.

[caimingxue]

That is to say, I use the moveit servo to generate real-time joint trajectory ( every trajectory only contains one point), the industrial core can receive this kind of joint trajectory and send to the real robot according to simple message protocol?

[gavanderhoorn]

Technically, this would be possible.

Realistically though: most (all?) drivers I know of that use industrial_robot_client in some way only really support the FollowJointTrajectoryAction server interface.

Sending single-point trajectories to that will not result in smooth motion across different trajectories -- as the implementation in industrial_robot_client does not support trajectory replacement.

There are some extensions which have implemented something like a streaming interface (see ros-industrial/motoman#215 fi). Those are not part of the packages maintained here though, so we can't say how they would behave with something like moveit_servo.

In my experience, moveit_servo only really works well when it has access to a (moderately) high-bandwidth, low-latency, low-jitter external motion interface -- ideally with some on-OEM-controller filtering.

For robots which do not have such an interface it can be difficult to get it to work properly.