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[MoveIt!] is there any way to control the pick speed when using MoveIt! Grasp Msg

asked 2018-08-14 21:59:24 -0500

alex wang gravatar image

I find that when using the Grasp.msgs and using the MoveIt! pick API, the speed of the robot is not under control when setting the max velocity factor. So..? how to do it

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answered 2019-02-19 04:18:46 -0500

fvd gravatar image

This is probably better suited as an issue on Github, but in the current implementation, the approach and retreat trajectories are calculated via computeCartesianPath, which does not use the max velocity factor. The trajectory has to be time-parametrized manually. This is set to be streamlined in the future, but if you need it in the meantime, you could patch it roughly like this:

  1. Find the lines where the pick/place functions execute the plans (this should be it for picking)

  2. Parametrize the trajectories with your desired scaling factor. There are explanations here and here, among other places.

  3. Let the pipeline execute the time-parametrized trajectories.

You can open a pull request or issue here if you decide to pursue this. It should not be too complicated.

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Asked: 2018-08-14 21:59:24 -0500

Seen: 234 times

Last updated: Feb 19 '19