Modify waypoint distance/number

asked 2015-09-01 04:58:56 -0500

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

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

Carl gravatar image Carl  ( 2015-09-07 09:54:30 -0500 )edit

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 ?

bao041115 gravatar image bao041115  ( 2020-04-17 03:28:10 -0500 )edit