Loading a plan to MoveGroupInterface::Plan
Hey all!
I have a set of waypoints on a txt file, which I wanna use to compute a plan. (I'm doing this because Moveit does not reproduce the same path/trajectory when I plan it everytime).
My questions is, how do I load a set of points to Plan and compute a new plan ? For now I have the code below, But i gives a segmentation fault since I'm not able to define the array size to moveit_msgs::RobotTrajectory msg (there is no way to do it)
std::ifstream infile("wet_points.txt");
ROS_INFO( "Loaded file");
float a,b,c;
moveit_msgs::RobotTrajectory msg;
msg = my_plan.trajectory_;
while (infile >> a >> b >> c)
{
msg.joint_trajectory.points[count].positions[0] = a;
msg.joint_trajectory.points[count].positions[1] = b;
msg.joint_trajectory.points[count].positions[2] = c;
}
my_plan.trajectory_ = msg;
move_group.plan(my_plan);
ROS_INFO( "New plan planned");
Have you seen the tutorial? The link points directly to where waypoints are explained.
Im looking at it now! This seems like an option... I have also looked at descartes ( http://wiki.ros.org/descartes ) . Is this something more promising because as next steps I would have to make reliable repetitive motions with my robot. Let me know
I've seen Descartes mentioned here as well (a question you now reminded me also talks about something similar to what you need), but know nothing more, so I can't help on the choice. I'm having myself a challenging time with MoveIt.