G Code to trajectories

[Harsh Deshpande]

Hello people,

I am new to Moveit! and enjoying so far. My goal is perform a milling application using moveit.

I am able to manually enter trajectory way-points and make the manipulator follow smooth trajectories 

and visualize them in RViz (I don't have access to real robot yet). 

Is there any way I can translate a "g code" to these way-points?

[Shaun Edwards]

Harsh,

We've been working on a similar project: http://wiki.ros.org/descartes

We've thought about adding a g-code interpreter to it as well.  Our proposed approach is to use MachineKit (http://www.machinekit.io/ ) which already has this capability built in.  It would sit on top of the Descartes/MoveIt planners.

Shaun

[Harsh Deshpande]

Thanks for your reply Shaun!

The grinding application on the decartes page looks interesting! I will take a deeper look into this and get back to you.

Harsh