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Hi! Also I'm looking for the way how I can do path planning, but, according to what I have read, people from Willow Garage didn't care about this, the package allows to get the arm from Point A to Point B, but they haven't focused on path planning. However, if you find the way for doing it, I'll appreciate if you told me.

Hi! Also I'm looking for the way how I can do path planning, but, according to what I have read, people from Willow Garage didn't care about this, the package allows to get the arm from Point A to Point B, but they haven't focused on path planning. However, if you find I found this methods I think could be useful: Using waypoints: http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html#cartesian-paths or using the way for doing it, I'll appreciate if you told me. Descartes package: http://wiki.ros.org/descartes