MoveIt2 & ROS2 Commanding Motion

The following demo can be found on the Copley Controls GitHub page here: github.com/Cop...
The Copley Motion Library used MoveIt2 to calculate the commanded positions to send to the 7 axis linkage. CML calculated velocities that produced constant acceleration during the move. CML sent the positions, velocities, and times in the form of PVT points over the CANopen network.

[@kavitry-n5f]

Hi Copley Controls, May i know hardware and connection details... I am struggling from last 7-8 months for this same solution

[@CopleyControlsOfficial]

Please reach out to us via email at copleycontrols.com, and we will help you. The hardware in use is the Copley USB-CAN-01 CAN card which is streaming data over the CAN bus at 1MB per second. The network consists of 7 axes being controlled by 3 Copley servo drives. The drives on the network are the MP4, XP2, and XPC. All of them are following the CANopen Protocol for Motion Control (DS402). The Copley Motion Library C++ Motion Control Stack can also implement this solution over an EtherCAT network.