Moveit & singularities
Hi all,
I was wondering if MoveIt actually knows about robot singularities... because when I execute trajectories sometimes the robot makes a little oscillation. It seems that it stops for a little time and then restart moving. Is this because of the robot is passing close a singularity configuration? Or is there another reason?
Ros Kinetic, Ubuntu 16.04
If with 'MoveIt' you mean MoveIt configured with the default OMPL, then afaik, it will not take singularities into account.
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.