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Moveit - Executed path doesn't match the planned path

asked 2018-12-21 07:56:33 -0500

boandlgrama gravatar image

updated 2018-12-21 08:33:30 -0500

Screencast of the problem: https://youtu.be/rINMG6N6iNE

As you can see in the video, the path executed by the (simulated robot) does not match the planned path. The desired path has an Orientation Constraint using the Move Group Python Interface described in the question/issue here: How to use orientation constraints in moveit? There is no real robot or gazebo connected, the joint_states are simply published by the joint_state_publisher. (fake joint states)

Procedure: (summary)

self.add_tilt_constaint()
destination_pose = self.robot_controller.move_group.get_current_pose()
destination_pose.pose.position.y -= 1.0
self.move_group.set_pose_target(destination_pose)
plan = self.move_group.plan()
self.move_group.execute(plan)

The used planner is RRT.

Any ideas what the cause of the problem could be?

I'm using Kinetic on Ubuntu GNOME 16.04

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Comments

I believe it's going to be hard for anyone to provide any sort of advice if you don't show how you are executing your path.

gvdhoorn gravatar image gvdhoorn  ( 2018-12-21 08:14:34 -0500 )edit

Sorry, I added that

boandlgrama gravatar image boandlgrama  ( 2018-12-21 08:34:40 -0500 )edit

1 Answer

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answered 2019-01-07 03:44:39 -0500

boandlgrama gravatar image

The answer/workaround is to add the enforce_joint_model_state_space: true parameter to your planning group in the ompl_planning.yaml (see #541).

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Asked: 2018-12-21 07:56:33 -0500

Seen: 208 times

Last updated: Jan 07 '19