How to plan for a shortest path using MoveIt?

asked 2016-06-14 02:13:06 -0500

SaranKanag gravatar image

Hi,

When i am trying to execute a goal in MoveIt, i could see MoveIt resulting in longer trajectories most of the time.

Without MoveIt in picture, I am able to execute shortest trajectory by giving only the shortest path computed (i.e. only goal joints positions) to actionClient "/arm/joint_trajectory_controller/follow_joint_trajectory" using actionlib.

I am trying to do the same using MoveIt. I also tried by giving the computed shortest path (goal joint position) using below code, but unexpectedly MoveIt again is planning a trajectory(set of points-path) for the same and it resulted in long trajectories again.

group_variable_values = group.get_current_joint_values()
group_variable_values[0] = -1.57
group_variable_values[1] = 1.0
group_variable_values[2] = 0.35
group_variable_values[3] = 0.567
group_variable_values[4] = 0.0
group_variable_values[5] = 2.2
group.set_joint_value_target(group_variable_values)
group.go(wait=True)

So can any one help me in finding and providing shortest trajectory for goal execution using MoveIt.

Thanks in advance.

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Comments

Which planning library are you using? This may result in longer paths

Lex van Dommelen gravatar imageLex van Dommelen ( 2016-06-14 05:03:11 -0500 )edit

Hi Lex, Thanks for your consideration. I am using MoveIt's "KDL kinematics" library which will be specified while creating MoveIt package using MoveIt setup assistant. I am not changing/assigning it externally.

SaranKanag gravatar imageSaranKanag ( 2016-06-14 05:28:17 -0500 )edit