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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?
Any advice?
I think this should be possible using the available tools within move_group and using them in the appropriate order.
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.
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!
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.
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.
Asked: 2015-06-15 08:39:23 -0500
Seen: 3,261 times
Last updated: Apr 22 '22
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