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planning with multiple target points

Hello!

I'm working on a KUKA industrial robot with moveit. is it possible to plan multiple target points with one command? I want my robot to go from his starting position to point A and then to point B. Do I have to plan from the starting position to point A and then from point A to point B or is there a way to plan the movement all at once? I know that MoveIt has the function ComputeCartesianPath which can do that, but i don't want linear movements.

Thank you in advance!

Asked by mitch1993 on 2016-08-01 11:35:48 UTC

Comments

Is there a reason that you don't want to issue multiple plan requests?

Asked by sedwards on 2016-08-08 22:00:26 UTC

I would be fine with that, but i can't get it working. The second planning request just starts in the starting position and not in point A. I am not able to find a way to set the starting Position to the planned target.

Asked by mitch1993 on 2016-08-09 00:53:21 UTC

Did you end up figuring this out?

Asked by anonymous135496 on 2023-01-30 10:15:44 UTC

Answers