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planning with orientation constraint in moveit

asked 2015-02-24 02:32:09 -0600

chpark gravatar image

Hi, I set an end-effector orientation constraint for planning using Moveit, but computed motions have some jerky points.

with RRT (OMPL) : with RRT* (OMPL) :

It looks the configuration suddenly changes to another IK solution in such points. What should I do to get smooth trajectories?

I am using ROS Hydro and Moveit. I used below code for setting the orientation constraint.

moveit_msgs::OrientationConstraint ocm;
ocm.link_name = "end_effector_link";
ocm.header.frame_id = "segment_0";
ocm.orientation.x = 0;
ocm.orientation.y = 0;
ocm.orientation.z = -INV_SQRT_2;
ocm.orientation.w = INV_SQRT_2;
ocm.absolute_x_axis_tolerance = 0.5;
ocm.absolute_y_axis_tolerance = 0.5;
ocm.absolute_z_axis_tolerance = M_PI;
ocm.weight = 1.0;
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I am struggling with orientation constraints and I am also working with a Kuka arm. Did you managed to make it work properly under MoveIt ?

sangfuu gravatar image sangfuu  ( 2016-01-12 09:59:54 -0600 )edit
Mehdi. gravatar image Mehdi.  ( 2019-07-23 12:59:00 -0600 )edit

1 Answer

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answered 2020-05-26 05:22:39 -0600

Rufus gravatar image

It seems that setting the robot to have non-continuous rotation (i.e. only -pi to pi) solves the issue

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Asked: 2015-02-24 02:32:09 -0600

Seen: 2,200 times

Last updated: May 26 '20