Inreasing waypoints in MoveIt!

asked Dec 17 '18

Pulkit123 gravatar image

Hi I am sing ROS-Kinetic with Ubuntu 16.04. I have a 7 dof manipulator and I am using ros-control and MoveIt! for trajectory planning and execution. However I want to increase the way-points that MoveIt! is generating for a smoother interpolation. Is there any way to configure the minimum number of way-points generated ?

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http://emanual.robotis.com/docs/en/po...

You can use smoothing filter

Darby Lim gravatar image Darby Lim  ( Dec 17 '18 )edit

I tried it, but the acceleration profile is overshooting way too much (nearly 6 times that of max)

Pulkit123 gravatar image Pulkit123  ( Dec 17 '18 )edit

I am using ros-control and MoveIt! for trajectory planning and execution. However I want to increase the way-points that MoveIt! is generating for a smoother interpolation.

FYI: the interpolation is done by ros_control, not MoveIt, or at least if you're using joint_trajectory_controller, ..

gvdhoorn gravatar image gvdhoorn  ( Dec 17 '18 )edit

.. so while configuring MoveIt to use shorter segments may help, it might be worthwhile to investigate the effect of increasing the control frequency of the ros_control parts of your setup.

gvdhoorn gravatar image gvdhoorn  ( Dec 17 '18 )edit

I tried giving ros-control a ustom trajectory through csv with larger way-points and the interpolation was very smooth, So i am trying that may be if MoveIt! can generate more way-points then it will be good

Pulkit123 gravatar image Pulkit123  ( Dec 17 '18 )edit
2

You could take a look at longest_valid_segment_fraction.

gvdhoorn gravatar image gvdhoorn  ( Dec 17 '18 )edit

Thanks, I varied the longest_valid_segment_fraction and due to that i am able to increase the way-points in MoveIt!. I am now using a value of 0.0005 and getting nearly 100 waypoints for a joint raotation of 90 degrees

Pulkit123 gravatar image Pulkit123  ( Jan 3 '19 )edit

@Pulkit123 Hello. I also want to send csv stored trajectory to ros_control to generate smooth trajectory. How did you do that?

mug gravatar image mug  ( Jan 24 '22 )edit