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Force/torque values while planning trajectories in MoveIt Motion Planner

asked 2018-05-11 10:11:21 -0600

medhijk gravatar image

I am using MoveIt to plan trajectories for my simple robotic arm (3 DOF). I have a force_torque sensor gazebo plugin inside my urdf that can publish force/torque values in one of the joints of the arm. Now while planning a trajectory for the arm in MoveIt, I want to know what is the torque in that joint. If the torque is less than a specified value, I want to go ahead and execute the planning; if not, don't execute the planning.

I know that once I execute the planning and simulate in gazebo, I can get the torque values from the force_torque rostopic published by the gazebo sensor plugin. But can I get that info while planning. Does the MoveIt planning publish or store that info somewhere?

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answered 2018-07-09 15:01:06 -0600

Levi_Manring gravatar image

I would recommend using another software to deal with this. I would try Mathworks Robotics system toolbox. You can send a series of waypoints to a function they have that handles this. See: https://www.mathworks.com/help/roboti...

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Asked: 2018-05-11 10:11:21 -0600

Seen: 241 times

Last updated: Jul 09 '18