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moveit collision avoidance

asked 2017-05-23 10:27:05 -0500

Muneeb gravatar image

I am using default IK planner (KDLplugin) for planning the path for ABB_IRB4600 robot using moveIt RViz plugin. When i import an object and make the robot movement to avoid that object by publishing current scene in RViz . The movements of the robot becomes very weired. Is there a way to refine the movements of the robot during collision avoidance of the object in the planning scene. I tried to incease the planning attempts and the planning time but haven't acheived any good result.

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answered 2017-05-23 12:11:15 -0500

BrettHemes gravatar image

In the RViz Motion Planning panel, under the Context tab, try picking a different OMPL algorithm. I find that RRTConnectkConfigDefault works well out of the box.

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RRTConnectkConfigDefault looks good. thanks but still movements of the robot are not so refined as i want to have. It should go around the obstacle but it moves a bit far from the obstacle. any suggestion how to get linear movements around the obstacle

Muneeb gravatar image Muneeb  ( 2017-06-01 04:59:15 -0500 )edit

You could also have a look at ROS-I's stomp implementation: https://github.com/ros-industrial/ind... . This uses a whole different planning approach and should yield "nicer" trajectories.

v4hn gravatar image v4hn  ( 2017-06-07 07:08:43 -0500 )edit

I switched to stomp planner. The trajectories are really nice when i plan and execute using RVIZ plugin even around the obstacle. but now i am having problem with sending pose values since i think its only works with joint values.

Muneeb gravatar image Muneeb  ( 2017-06-09 05:26:22 -0500 )edit

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Asked: 2017-05-23 10:27:05 -0500

Seen: 835 times

Last updated: May 23 '17