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No home point in Moveit Cartesian Plan Plugin in

asked 2017-10-19 20:33:23 -0600

pdmike gravatar image

updated 2017-10-19 20:35:20 -0600

Hello, I have installed the Moveit Cartesian Plan Plugin in my rviz , when the "Move to Home" button is clicked, the robot move to the default origin pose i cannot define. So could you tell me how to configure the plugin or change the code of plugin to specify the "Home" point?

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What is the "Cartesian Plan Plugin"? I'm not aware of such a plugin/display for rviz. If you want to add your own named poses in the motion planning display, add them to your srdf.

v4hn gravatar image v4hn  ( 2017-10-20 09:06:04 -0600 )edit

@v4hn: the plugin that @pdmike is referring to is fermi. It's not an actual planning plugin, but a plugin similar to the MoveIt RViz plugin that interfaces with computeCartesianPath(..).

gvdhoorn gravatar image gvdhoorn  ( 2018-01-05 04:36:28 -0600 )edit

@pdmike: just to clarify: the name of the plugin is rather unfortunate: it's not an actual planning plugin (such as the OMPL or CHOMP planning plugins for MoveIt), but a plugin for RViz that provides a specific UI to computeCartesianPath(..).

gvdhoorn gravatar image gvdhoorn  ( 2018-01-05 04:37:25 -0600 )edit

@gvdhoorn: yes, but i think this plugin helped me a lot. When I need the robot trajectory with constraints which the endeffector should keep parallel to the ground, this plugin can easily define the waypoints without using computecartesianpath().

pdmike gravatar image pdmike  ( 2018-01-05 05:54:43 -0600 )edit

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answered 2018-01-05 03:14:57 -0600

pdmike gravatar image

I have find a way to define the specific 'HOME ' in the Cartesian Plan Plugin.

  1. Using the rviz to plan your robot model to your desired position and get the End_Effect link's position and orientation and each joint position

  2. Changing the home_pose in '/moveit_cartesian_plan_plugin/src/generate_cartesian_path.cpp

    void GenerateCartesianPath::moveToHome() {

      geometry_msgs::Pose home_pose;
      home_pose.orientation.x = -0.275129;
      home_pose.orientation.y = 0.66813;
      home_pose.orientation.z = -0.625876;
      home_pose.orientation.w = 0.293575;
  3. Compiling
  4. Start the plugin and move the each joint to your home point approximately and click the "Move to Home" button

I don't know if this is a best way to change the default home point in this plugin, but it works. So you can try or you have another convenient way to solve it.

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Asked: 2017-10-19 20:33:23 -0600

Seen: 228 times

Last updated: Jan 05 '18