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:
/move_group/ompl/minimum_waypoint_count := 10
/move_group/ompl/maximum_waypoint_distance :=50
When I changed the minimum_waypoint_count 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
Nobody else who had trouble configuring the Number of waypoints or the distance between those points?
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 ?