Modify waypoint distance/number
Hello ROS-community,
im using the moveit_config package to plan path for a six axis industrial robot arm.
When the move_group element is planning a new plan it publishes it in the topic "/display planned path". I noticed that those paths are always >10. I figured out that there are 2 parameter on the param-server:
/movegroup/ompl/minimumwaypoint_count := 10
- /movegroup/ompl/maximumwaypoint_distance :=50
When I changed the minimumwaypointcount on runtime for example to 50, my move_group still produced paths with less than 50 waypoints. When I restarted the planning node, it used the parameter and only produced paths with more than 50 waypoints.
How can I tell the move_group to refresh this parameter during runtime?
Thanks for help, Carl
Asked by Carl on 2015-09-01 04:58:56 UTC
Comments
Nobody else who had trouble configuring the Number of waypoints or the distance between those points?
Asked by Carl on 2015-09-07 09:54:30 UTC
Hello Carl, Have you found some ways to solve that problem yet ?. I am stacking at the same problem with you. I just want my trajectory become smooth but i can not found any way to increase the number of waypoints. If you have some advises, could you pls show me way to through that ?
Asked by bao041115 on 2020-04-17 03:28:10 UTC