If with 'MoveIt' you mean MoveIt configured with the default OMPL, then afaik, it will not take singularities into account.

It seems that it stops for a little time and then restart moving.

this could be the time parameterisation interacting with the path planning in a strange way. Does ..

.. your robot really come to a halt, or does it slow down and then accelerate again?

sorry for late reply but I couldn't access to the lab during this period. The robot comes to a halt, not just a slow down

Hi, did anyone solve this issue?

MoveIt outputs JointTrajectorys. AFAIK, joint space doesn't have singularities, or at least not the ones we can find when executing a Cartesian motion.

So is there a way to tell MoveIt to calculate motions while avoiding singularities?

Joint space motions don't suffer from singularities. By definition there would be nothing to avoid.

I wonder what can I do with this because I'm relying on MoveIt for my motion planning but the robot halts every time it reaches singularities. I'm currently using the default OMPL. If I change that would it solve this issue? If not - what options do I have for doing motion planning with my robot that won't reach singularities?

Thanks.

We appear to not understand each other.

AFAIK, singularities will only be problematic if you're trying to move through them with a linear (ie: Cartesian) motion. A joint space motion by definition doesn't suffer from Cartesian singularities. In fact, it'd be one of the ways to "move through" a singularity safely.

MoveIt only generates joint space trajectories.

Unless you have custom code which converts those into some representation of a Cartesian trajectory or use MoveIt's output to generate a program in the vendor's proprietary robot programming language with Cartesian/linear motions, you can't run into singularities.

I would suggest you post a new question, clearly describe what you observe, give examples of the code you're using, describe your hw (ie: robot, driver, settings), etc.

Discussing this in the comments of a 5 year old question is not going to attract a lot of attention.

Hello. Unfortunately it's been several years since I asked this question, so I remember very little (I'm not working on ROS anymore, it was only my thesis project). As gvdhoorn stated, there's no singularities issue. If I'm not wrong, I managed to solve this problem by modifying the velocity scaling value on MoveIt and/or the speed parameter on robot's teach pendant. As a first attempt, you can try setting the velocity scaling value to 0.25.

I've opened a discussion about this here: https://github.com/ros-industrial/motoman/discussions/557