Ask Your Question
0

Modify waypoint distance/number

asked 2015-09-01 04:58:56 -0600

Carl gravatar image

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:

  1. /move_group/ompl/minimum_waypoint_count := 10

  2. /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

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2015-09-07 09:54:30 -0600

Carl gravatar image

Nobody else who had trouble configuring the Number of waypoints or the distance between those points?

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2015-09-01 04:58:56 -0600

Seen: 247 times

Last updated: Sep 07 '15