How to force moveit into directly using my effector angles?
Hello everyone, A beginner to ROS here. How do I force moveit to directly change the angles of a simple robotic arm that I am simulating, instead of it calculating the path using IK solver? IK solver is very bad and completely messes up my path. Despite me inputting a series of arm positions to it by hand such that it won't hit an obstacle, it still hits obstacles in a very weird path that IK calculates.
Let me make this clear. Consider a robotic arm such as the one shown in this figure. Let the servo motors be numbered from 1 to 4, with the servo at the base being called 1.Let the current position in the image be the starting position. Say it is at this position after having gripped an object. Now I want to slowly bring the arm back without hitting any obstacles. So I change only the angle on servo number 2. However, what Ik does is, it turns left, actuates servo 3 to some other position,turns right,actuates servo 3 to its original angle,THEN it actuates servo number 2 to the angle that I set. This makes it impossible for me to predict which way it will go when I give it a command. It is making it impossible to move without colliding into objects.
I am using ROS melodic on a standard Ubuntu 18.04 lts. I am using the moveit to find the correct angles and gazebo for seeing the simulation.
One thing that I did notice is that it does not behave so weirdly when it goes to the 2 premade poses that I created in moveit setup assistant. while doing this I thought,maybe I should have set the angles in moveit setup assistant. But that is too hard as the moveit setup assistant uses some weird numbers (angles in radians?) instead of angles in degrees. Also it is not possible for me to keep deleting everything and run moveit setup assistant everytime I want to make a small change.
Am I supposed to set waypoints or something? I was trying it by directly setting the joint angles with which I got the above behaviour. I want to completely override Inverse Kinematics Solver and use my own positions to move from one position to another.
Please please I beg anyone to tell me what to do. I am very desperate. I have had to resort to asking questions on this forum because I was unable to find answers on the moveit documentation. I WILL BE GRATEFUL FOR ANY HELP THAT ALLOWS ME TO SET THE ANGLES MANUALLY.
