error in cartesian planner path

asked 2018-12-12 00:52:32 -0500

athikr gravatar image

I am working in a 8DOF arm. I have worked it with ompl planner. It moves to the point as per the plan. But now I want to traverse a set specific waypoints using cartesian planner. Now the arm moves and reach a different point say if the point I need is at a height of 0.2, it moves to 0.6-.8 high point. Fraction value returned is also <1. So I am confused.Thanks in advance. Reply to this post if you have come across a similar one.

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A fraction of < 1 essentially means that the interpolator was not able to process all your waypoints -- for whatever reason. Typical problems are due to IK.

Executing trajectories when the fraction < 1.0 makes little sense, as they are incomplete/incorrect.

gvdhoorn gravatar image gvdhoorn  ( 2018-12-12 03:16:40 -0500 )edit

Even when fraction is 1, it moves to some other point but the visualization in RVIZ is correct. Anyone having idea what actually group.go does?

athikr gravatar image athikr  ( 2018-12-12 23:11:36 -0500 )edit

We're going to need a lot more information on your setup. Versions of involved components, robot type, driver for your robot, how you are interfacing with your robot, which IK solver, etc.

I would also suggest to inspect the result of the computeCartesianPath(..).

gvdhoorn gravatar image gvdhoorn  ( 2018-12-13 00:53:12 -0500 )edit
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