How to plan for a shortest path using MoveIt?
Hi,
When i am trying to execute a goal in MoveIt, i could see MoveIt resulting in longer trajectories most of the time.
Without MoveIt in picture, I am able to execute shortest trajectory by giving only the shortest path computed (i.e. only goal joints positions) to actionClient "/arm/joint_trajectory_controller/follow_joint_trajectory" using actionlib.
I am trying to do the same using MoveIt. I also tried by giving the computed shortest path (goal joint position) using below code, but unexpectedly MoveIt again is planning a trajectory(set of points-path) for the same and it resulted in long trajectories again.
group_variable_values = group.get_current_joint_values()
group_variable_values[0] = -1.57
group_variable_values[1] = 1.0
group_variable_values[2] = 0.35
group_variable_values[3] = 0.567
group_variable_values[4] = 0.0
group_variable_values[5] = 2.2
group.set_joint_value_target(group_variable_values)
group.go(wait=True)
So can any one help me in finding and providing shortest trajectory for goal execution using MoveIt.
Thanks in advance.
Which planning library are you using? This may result in longer paths
Hi Lex, Thanks for your consideration. I am using MoveIt's "KDL kinematics" library which will be specified while creating MoveIt package using MoveIt setup assistant. I am not changing/assigning it externally.