Inreasing waypoints in MoveIt!

asked 2018-12-16 22:54:54 -0600

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 imageDarby Lim ( 2018-12-16 23:07:11 -0600 )edit

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

Pulkit123 gravatar imagePulkit123 ( 2018-12-17 00:47:03 -0600 )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 imagegvdhoorn ( 2018-12-17 01:57:59 -0600 )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 imagegvdhoorn ( 2018-12-17 01:58:55 -0600 )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 imagePulkit123 ( 2018-12-17 03:58:06 -0600 )edit
1

You could take a look at longest_valid_segment_fraction.

gvdhoorn gravatar imagegvdhoorn ( 2018-12-17 07:22:39 -0600 )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 imagePulkit123 ( 2019-01-02 23:27:33 -0600 )edit