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How to specify the middle points when plan projectory using moveit?

asked 2017-01-04 04:25:01 -0500

clark_txh gravatar image

I can specify start and goal to plan a projectory. but I want specify some middle points between start and goal.

I only know that the computeCartesianPath can do that. but It isn't good for use.

How to specify the middle points when plan projectory using moveit?

advance thank for any help.

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"but It isn't good for use." Why?

NEngelhard gravatar image NEngelhard  ( 2017-01-04 05:49:21 -0500 )edit

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answered 2017-01-05 04:04:47 -0500

rbbg gravatar image

Hi Clark,

MoveIt! does not support intermediate waypoints for joint space planning. The easiest way to do it is to plan separate paths: first to the middle waypoint, and then from there on to the final waypoint.If you both plan them before starting the execution, don't forget to set the start_state of the second segment so as to match the final state of the first segment.

You can then execute these trajectories in order, but if you want to turn them into one path, you can. To do this, you should merge the waypoints of both trajectories and re-run the time parameterization on the new trajectory.

With moveit_commander, this can be done with the retime_trajectory function. In C++, it's a little more involved but certainly possible. Have a look here to see how it's done.

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Asked: 2017-01-04 04:25:01 -0500

Seen: 641 times

Last updated: Jan 05 '17