No home point in Moveit Cartesian Plan Plugin in
Hello, I have installed the Moveit Cartesian Plan Plugin in my rviz , when the "Move to Home" button is clicked, the robot move to the default origin pose i cannot define. So could you tell me how to configure the plugin or change the code of plugin to specify the "Home" point?
What is the "Cartesian Plan Plugin"? I'm not aware of such a plugin/display for rviz. If you want to add your own named poses in the motion planning display, add them to your srdf.
@v4hn: the plugin that @pdmike is referring to is fermi. It's not an actual planning plugin, but a plugin similar to the MoveIt RViz plugin that interfaces with
computeCartesianPath(..)
.@pdmike: just to clarify: the name of the plugin is rather unfortunate: it's not an actual planning plugin (such as the OMPL or CHOMP planning plugins for MoveIt), but a plugin for RViz that provides a specific UI to
computeCartesianPath(..)
.@gvdhoorn: yes, but i think this plugin helped me a lot. When I need the robot trajectory with constraints which the endeffector should keep parallel to the ground, this plugin can easily define the waypoints without using computecartesianpath().