planning with multiple target points

asked 2016-08-01 11:35:48 -0600

mitch1993 gravatar image

updated 2016-08-01 11:48:07 -0600


I'm working on a KUKA industrial robot with moveit. is it possible to plan multiple target points with one command? I want my robot to go from his starting position to point A and then to point B. Do I have to plan from the starting position to point A and then from point A to point B or is there a way to plan the movement all at once? I know that MoveIt has the function ComputeCartesianPath which can do that, but i don't want linear movements.

Thank you in advance!

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Is there a reason that you don't want to issue multiple plan requests?

sedwards gravatar imagesedwards ( 2016-08-08 22:00:26 -0600 )edit

I would be fine with that, but i can't get it working. The second planning request just starts in the starting position and not in point A. I am not able to find a way to set the starting Position to the planned target.

mitch1993 gravatar imagemitch1993 ( 2016-08-09 00:53:21 -0600 )edit