Extract just the path (in coordinates) instead of trajectories from MoveIt!
Hello all,
From what i know, when using OMPL.app (Graphical User Interface to OMPL), we can actually "print" a path to an output file by using
ompl::geometric::PathGeometric::printAsMatrix()
And from MoveIt!, move_group pulls all the individual components together to provide "cmd_vel" (geometry_msgs/Twist). My question is, is it possible to print only the path from move_group and how?
Any help would be greatly appreciated. Thank you.
MoveIt! does not produce
Twistmessages. It only generatesRobotTrajectoryinstances, which are ultimately typically transformed into aJointTrajectorymsg. Are you sure you're not confusingmove_groupwithmove_base? The latter is from the ROS Navigation stack.@gvdhoorn Thanks for the explanation. If i were to extract just the path (in coordinates) instead of trajectories from MoveIt!, will it be possible?
I don't know of any functionality (on the user side) in MoveIt that would let you print out trajectories like this.
What you could perhaps do is subscribe to the
FollowJointTrajectorytopic(s) or userostopic echo .. > my_file.yaml.Also, could I ask you to tell us what the status is of #q255217 and #q254927?
@gvdhoorn Alright, thanks for clearing up my doubts! and yes, i will update the status of #q255217 and #q254927 as soon as possible.
Joint trajectories are composed of joint trajectory points, in which the joint positions for each point along the trajectory are provided. With this you can compute FK to obtain the Cartesian position for each joint trajectory point.