Revision history [back]

I think this should be possible using the available tools within move_group and using them in the appropriate order.

• Compute a circular cartesian path as a vector of poses

• Compute corresponding joint space cartesian path using the cartesian path service capability

• Send the path off to MoveIt! to execute

It sounds like this might be problematic because of missing time parametrization of the trajectory.

As stated by @paul-jurczak, another option is looking at the Cartesian Path Planner Plug-In for MoveIt!

For DRC, we implemented our own pipeline for generating cartesian motion based on a Action request that specifies the rotation center pose and then rotates the given endeffector around it. Relevant pieces of code:

• Generate waypoint poses
• Use of function inside Action callback

This likely is a bit heavyweight if you're just interested in doing a circular motion, but might serve for inspiration.

I think this should be possible using the available tools within move_group and using them in the appropriate order.

• Compute a circular cartesian path as a vector of poses

• Compute Compute corresponding joint space cartesian space cartesian path using the the cartesian path service path service
  capability

• Send the path off to MoveIt! to to execute

It sounds like this might be problematic because of missing time parametrization of the trajectory.

As stated by @paul-jurczak, another option is looking at the Cartesian Path Planner Plug-In for MoveIt!

For DRC, we implemented our own pipeline for generating cartesian motion based on a Action request that specifies the rotation center pose and then rotates the given endeffector around it. Relevant pieces of code:

• Generate waypoint poses
• Use of function inside Action callback

This likely is a bit heavyweight if you're just interested in doing a circular motion, but might serve for inspiration.

I think this should be possible using the available tools within move_group and using them in the appropriate order.

• Compute a circular cartesian path as a vector of poses
• Compute corresponding joint space cartesian space cartesian path using the cartesian path service
  capability
• Send the path off to MoveIt! to execute

It sounds like this might be problematic because of missing time parametrization of the trajectory.

As stated by @paul-jurczak, another option is looking at the Cartesian Path Planner Plug-In for MoveIt!

For DRC, we implemented our own pipeline for generating cartesian motion based on a Action request that specifies the rotation center pose and then rotates the given endeffector around it. Relevant pieces of code:

• Generate waypoint poses
• Use of function inside Action callback

This likely is a bit heavyweight if you're just interested in doing a circular motion, but might serve for inspiration.