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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

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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?

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

Seen: 246 times

Last updated: Sep 07 '15