Ask Your Question
1

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?

edit retag flag offensive close merge delete

Comments

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

1 Answer

Sort by ยป oldest newest most voted
0

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.position.x=-0.161528;
    
      home_pose.position.y=0.258965;
      home_pose.position.z=0.829914;    
      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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

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

Seen: 228 times

Last updated: Jan 05 '18