Arm navigation: Trajectory not checked?

asked 2014-03-14 03:05:43 -0500

davinci gravatar image

I use the old arm navigation in combination with OctoMap. Collision checking goes well for target locations but sometimes the robot arm still collides. It is moving in a confined space so the trajectories are sometimes a bit weird. But the trajectory should also be checked with the Octomap collision map right? I am using arm_navigation with an UR5 robot.

Use collision map is on ( <arg name="use_collision_map" default="true"/>). Which other settings could be of influence? How can these collisions be prevented?

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