I will have a 5 or 6 DOF arm build with Dynamixel or HerculeX smart servos. I need to move the gripper along Cartesian trajectory, which I will calculate in my C++ application. I looked at ROS, but the learning curve is pretty steep and it looks like a major overkill for this use case. I don't need a distributed system with all the complexity it brings. Preferably, I would like to call a standalone C++ library or libraries to get the arm actuated.
What are my options? What will be the limitations of not using a full blown robotics framework like ROS or YARP in this case.
Here is how I would like to code it:
vector<Point> way_points; vector<Pose> way_poses; compute_Cartesian_trajectory(way_points, way_poses); // my code execute_Cartesian_trajectory(way_points, way_poses); // library call
The last line can be spread over several library function calls and intermediate data structures, if needed. The end result should be the gripper physically following Cartesian trajectory given by