The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
MoveIt by default actually only plans in joint space. I believe you actually want to generate Cartesian trajectories.
For that you can use moveit::planning_interface::MoveGroup::computeCartesianPath(..). There is also a GUI interface for that: moveit_cartesian_plan_plugin (it's really a ui, not a planning plugin), but that might be a bit hard to setup.
Alternatively you could interpolate between poses yourself and use something like descartes to turn it into a joint space trajectory.
If you really just want a chopping stage for MoveIt's output, you could configure one of the ROS-Industrial trajectory_filters as a State Adapter and configure the step size appropriately.
| | 2 | No.2 Revision |
MoveIt by default actually only plans in joint space. I believe you actually want to generate Cartesian trajectories.
For that you can use moveit::planning_interface::MoveGroup::computeCartesianPath(..). There is also a GUI interface for that: moveit_cartesian_plan_plugin (it's really a ui, not a planning plugin), but that might be a bit hard to setup.
Alternatively you could interpolate between poses yourself and use something like descartes to turn it into a joint space trajectory.
If you really just want a chopping stage for MoveIt's output, you could configure one of the ROS-Industrial trajectory_filters as a State Adapter and configure the step size appropriately.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
