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Check if target joint position is valid

asked 2018-09-10 07:55:00 -0500

nmelchert

143 ●15 ●20 ●26 http://imr.uni-hannover.de/

Hi, I was wondering if there is a way to check if a goal pose of a planned path (planned in moveit with OMPL) is a valid pose, meaning that joint position constraints, collision, etc. are taken into consideration. A Python function like

bool check_if_pose_if_valid(joint_position)

would be great.

Thanks for your answers

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answered 2018-09-10 19:47:34 -0500

fvd
2180 ●15 ●98 ●56

The easiest way should be to use the StateValidationService of the move_group node, by calling the service /check_state_validity with this message. You will need the RobotState, which you can get from the /get_planning_scene service with this message.

In the definition of the StateValidationService, you also find a pretty good example of how to do the checks yourself, in case you want to avoid calling the service too often.

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Thanks a lot for you answer. I will try to test the ''/check_state_validity'' service and mark this question as answered if it works for me.

nmelchert ( 2018-09-11 03:26:12 -0500 )edit

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Asked: 2018-09-10 07:55:00 -0500

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Last updated: Sep 10 '18

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