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# How to use Moveit for planning circular path with a robotic arm

I want to draw a circle or other geometric object with a robotic arm ,but MoveIt seems only supports the path constraints designed to  from point A to point B.
How to use MoveIt to solve it? Or is there any other package of ROS to solve this problom?

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I think this should be possible using the available tools within move_group and using them in the appropriate order.

• Compute a circular cartesian path as a vector of poses
• Compute corresponding joint space cartesian path using the cartesian path service capability
• Send the path off to MoveIt! to execute

It sounds like this might be problematic because of missing time parametrization of the trajectory.

As stated by @paul-jurczak, another option is looking at the Cartesian Path Planner Plug-In for MoveIt!

For DRC, we implemented our own pipeline for generating cartesian motion based on a Action request that specifies the rotation center pose and then rotates the given endeffector around it. Relevant pieces of code:

This likely is a bit heavyweight if you're just interested in doing a circular motion, but might serve for inspiration.

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Update: The Pilz Industrial Motion Planner offers CIRC motions. It was added to MoveIt in 2020

( 2022-08-13 22:50:31 -0500 )edit

Just solved this problem for the TIAGo robot and the panda robot.

I used ComputeCartesianPath() from the Moveit! API and created waypoints using components of the position of the end effector with respect to the centre:

for( theta in 0 to 90)
target_pose.position. y = r*sin(theta)
target_pose.position. x = r*cos(theta)
waypoints.pushback(target_pose)


Then call the ComputeCartesianPath() using required syntax!

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I was just searching for an answer to the same question. The solution seems to rely on a Cartesian path. Have a look at computeCartesianPath. There is more in Cartesian Path Planner Plug-In for MoveIt! blog post.

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Thank you.After a long time using of Moveit,I feel that ROS does not do a lot of work for controlling a robot arm .Not enough funtions.

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( 2015-09-17 01:26:54 -0500 )edit