Stephen-Tellis / moving_target_tracker

Real-time target position tracking by switching between trajectory execution and servo control

Real-time target position tracking

Enables switching between trajectory execution and real-time servo control to track a moving target. Target tracking is enabled by a custom PID controller.

point1 and point2 move at different speeds and are at different 3D locations.

What's under the hood?

moveit_servo
KDL engine (LMA IK solver)
pilz_industrial_motion (global planners work too)