[MoveIt!] Plan to a goal without specifying all axes
Hi,
is there a way to plan a path to a goal which is defined with a position (x, y, z) and a value for pitch and roll, but leave yaw open for variation? For my use case the yaw angle is not relevant, so I don't want to restrict possible paths by defining a value for it.
As far as I understand not giving a value for the axis will not work, because the value is initialized to zero.
Another approach would be to set the goal_orientation_tolerance. However, this is quite unsatisfying as this sets the tolerance for the whole pose and not only one specific axis.
Not an answer, but this would seem like something descartes is very good at:
Cartesian only though.
I think this could be implemented with a OrientationConstraint. I haven't used it yet, but I think you could set the absolute_z_axis_tolerance to something small and the other two much larger.
OrientationConstraint
s are also definitely possible. Would remove the need for any additional planners. I just wanted to give a pointer to a planner that might be better suited for underconstrained planning problems.As far as I understand these are constraints one can limit the possible paths with. Therefore, an OrientationConstraint would only solve the problem, when the scenario is something like moving in a straight line, otherwise the constraint has a high chance of preventing us to find any path.