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How to plan multiple, sequential motions with MoveIt in RViz

asked 2014-10-12 15:32:36 -0500

sara gravatar image

updated 2014-10-13 01:46:48 -0500

gvdhoorn gravatar image

Hi guys,

I am the new for the moveit.

Following the tutorials, I can use the motion plan with my robot in the moveit rviz, means I can let my robot's arm move from the start state to the goal state.

And now I tried to plan a series of action for my robot, like, let the robot's arm moved from state A to state B, then from state B to state C, then from state C to state D …...

But all I can find so far in the moveit rviz, just one movement.

So my question is, can I plan a series of action in the moveit rviz? If I can, how should I do?

Thank you very much.

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1 Answer

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answered 2021-09-03 05:03:44 -0500

Rahutam gravatar image

As somebody mentioned in their comment (, it is possible to do so.

"you can use the plan method to get the path that will be executed, without actually executing it yet. You can then plan the next path by setting the start to be the goal state of the previous motion with setStartState."

Sorry for answering after 7 years. XD

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Asked: 2014-10-12 15:32:36 -0500

Seen: 349 times

Last updated: Sep 03 '21