moveit package with orocos component?

asked 2017-03-04 07:18:30 -0600

dinesh gravatar image

Is their moviet package which has got orocos component, so that i can make the robot move faster? Although i think it has not been released officially.

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Why do you think an "orocos component" can make your robot "move faster"?

gvdhoorn gravatar imagegvdhoorn ( 2017-03-04 08:06:25 -0600 )edit

because, orocos has a real time toolkit, and i saw that people use it for hard real time control of their robot so. i saw that orocos patched with xanomial ubuntu is good for making robot move fast.

dinesh gravatar imagedinesh ( 2017-03-04 17:12:20 -0600 )edit

"hard real time control" is nice, but alone is not at all sufficient (or required) to "make [a] robot move fast". Second: while OROCOS can be used for this, it's perfectly possible to create a hard real-time execution context in ROS. This is done frequently (for ros_control fi).

gvdhoorn gravatar imagegvdhoorn ( 2017-03-05 04:11:55 -0600 )edit

I have seen that for a robot running moveit, it takes long time, many seconds to do the motion planning task and to do grasping task. Can moveit's performance be increased? because moveit framework provides lot of classes which makes a robot development process easy. But only speed is lacking i tnk.

dinesh gravatar imagedinesh ( 2017-03-05 05:39:58 -0600 )edit

and i think speed is the most important thing for a robot. so the response time of robot joints really matter for me. that is why i was learning orocos, but i think moveit is far good because of other extra capability it gives to robot.

dinesh gravatar imagedinesh ( 2017-03-05 05:42:42 -0600 )edit

I have seen that for a robot running moveit, it takes long time, many seconds to do the motion planning task and to do grasping task. Can moveit's performance be increased

N DoF motion planning in a dynamic scene is a hard problem. Using OROCOS or not is not going to chance that.

gvdhoorn gravatar imagegvdhoorn ( 2017-03-05 05:53:21 -0600 )edit