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How to set a sequence of goals in moveit?

asked 2018-07-11 04:55:07 -0600

enrico gravatar image

Hi everyone,

I would like to give my robot a sequence of goals such that by pushing plan & execution in Rviz it is possibile to make the robot reach every single goal serially. Does anyone know how I could implement this? Any help is appreciated. Thanks a lot.

Ros version: kinetic Ubuntu 16.04

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answered 2018-10-11 16:24:02 -0600

enrico gravatar image

Still don't know how to do it through Rviz interface, but there is a way through code. You can set (n) targets by using "geometry_msgs" and then calling (n) times the functions "setPoseTarget(target_i)" and "move()", which waits for the execution of the trajectory to complete, your robot will follow every single target depending on the sequence you established.

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RViz is essentially a programmers / debugging interface. The MoveIt motion planning plugin is not intended to provide a complete robot programming environment, but a way to visualise datastreams and state internal to MoveIt while you use it external to RViz.

There is no support for ..

gvdhoorn gravatar image gvdhoorn  ( 2018-10-12 04:32:20 -0600 )edit

.. planning sequences of motions in the RViz plugin as that would be a task for a programming environment. It could be added, but I wanted to explain why it is not there.

gvdhoorn gravatar image gvdhoorn  ( 2018-10-12 04:32:56 -0600 )edit

Yes it makes sense. Thanks for the explanation

enrico gravatar image enrico  ( 2018-10-12 04:54:06 -0600 )edit

nice to see your answer,I had try what you said,but the arm just go to the last goal,not follow the sequence goal,here is some of my code: geometry_msgs::Pose p1; group.setPoseTarget(p1); geometry_msgs::Pose p2; group.setPoseTarget(p2); MoveGroupInterface::Plan my_plan; group.move();

Guofeng Jin gravatar image Guofeng Jin  ( 2018-11-11 19:41:55 -0600 )edit

Did I have something wrong?

Guofeng Jin gravatar image Guofeng Jin  ( 2018-11-11 19:43:27 -0600 )edit

Yes, after you write "group.setPoseTarget(p1)" you have to write the command "group.move()". Then you do the same after writing "group.setPoseTarget(p2)". So basically everytime you set a pose target, you need a "move" command. This is how you get a sequence of movements

enrico gravatar image enrico  ( 2018-11-13 11:16:39 -0600 )edit

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Asked: 2018-07-11 04:55:07 -0600

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Last updated: Oct 11 '18