Inreasing waypoints in MoveIt!
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 ?
http://emanual.robotis.com/docs/en/po...
You can use smoothing filter
I tried it, but the acceleration profile is overshooting way too much (nearly 6 times that of max)
FYI: the interpolation is done by
ros_control
, not MoveIt, or at least if you're usingjoint_trajectory_controller
, .... 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.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
You could take a look at
longest_valid_segment_fraction
.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 Hello. I also want to send csv stored
trajectory
toros_control
to generate smoothtrajectory
. How did you do that?