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 | 1 | initial version |
While planning and executing movement in Moveit plugin for RVIZ, in most of the cases, robot starts not from the actual position but from default position.
Are you sure that your robot is providing correct state information when it first starts up? I noticed that my robot would show up in the default position in RViz when my robot driver sent all 0s for the first JointPosition message sent on the RobotState connection. RViz/Moveit seems to take the very first JointPosition update and assigns that to the "Planning Request -> Query Start State". You can see this by enabling that when you first start up.
| | 2 | No.2 Revision |
While planning and executing movement in Moveit plugin for RVIZ, in most of the cases, robot starts not from the actual position but from default position.
Are you sure that your robot is providing correct state information when it first starts up? I noticed that my robot would show up in the default position in RViz when my robot driver sent all 0s for the first JointPosition message sent on the RobotState connection. RViz/Moveit seems to take the very first JointPosition update and assigns that to the "Planning Request -> Query Start State". You can see this by enabling that when you first start up.
| | 3 | No.3 Revision |
While planning and executing movement in Moveit plugin for RVIZ, in most of the cases, robot starts not from the actual position but from default position.
Are you sure that your robot is providing correct state information when it first starts up? I noticed that my robot would show up in the default position in RViz when my robot driver sent all 0s for the first JointPosition message sent on the RobotState connection. RViz/Moveit seems to take the very first JointPosition update and assigns that to the "Planning Request -> Query Start State". You can see this by enabling that when you first start up.
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