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pick replanning [closed]

asked 2014-10-20 04:46:22 -0500

jay75 gravatar image

updated 2014-10-20 05:13:43 -0500

how do i set the number of planning attempts for when i do a pick. i am using a single grasp.

group_->setNumPlanningAttempts(25); doesn't seem to do it for me.

my terminal currently shows me :

[ INFO] [1413790159.614425456]: Starting scene monitor
[ INFO] [1413790159.621392483]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1413790160.622764995]: Constructing new MoveGroup connection for group 'arm'
[ INFO] [1413790161.398305226]: Ready to take MoveGroup commands for group arm.
[ INFO] [1413790161.398794822]: Looking around: no
[ INFO] [1413790161.399136122]: Replanning: no
[ INFO] [1413790217.348584478]: Planning attempt 1 of at most 1
[ INFO] [1413790217.371861830]: Added plan for pipeline 'pick'. Queue is now of size 1
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Closed for the following reason the question is answered, right answer was accepted by jay75
close date 2014-10-20 08:23:30.198552

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answered 2014-10-20 05:27:15 -0500

courrier gravatar image

updated 2014-10-20 05:29:29 -0500

In C++ you have:

moveit_msgs::PlanningOptions options;
options.replan = true;
options.replan_attempts = y;

moveit_msgs::PickupGoal goal;
goal.planning_options = options;

Or in you case:

group_->allowReplanning(true);

In python you have:

group = moveit_commander.MoveGroupCommander(blablabla)
group.allow_replanning(True)

There is no attribute in the Python API for the number of attempts but if you need to change it you can implement it yourself in move_group.py

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Asked: 2014-10-20 04:46:22 -0500

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Last updated: Oct 20 '14