ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

It is unclear what you mean by "I don't see any constraints being followed". I also don't see why the loop reinitializes the waypoints vector. The code you posted should move the robot's end effector upwards if it can. Please describe the error and paste your terminal output if it doesn't.

Either way, computeCartesianPath does not plan with constraints, it only uses a linear interpolation between the waypoints. You can decrease the value of the second argument eef_step if you find that the motions do not respect the orientation sufficiently.

You could also use the Descartes library for cartesian planning under constraints.