Is it possible to visualize an arm configuration space with Moveit?

asked 2019-02-06 07:26:06 -0500

joaocabogon gravatar image

I was looking for a simple way of visualizing an arm configuration space having the URDF model.

So basically I have a mobile platform and a UR5 arm attached on top of it. I was wondering if I can easily see the possible feasible arm configurations that avoid collisions with the arm itself and with the mobile platform using Moveit! and the URDF information.

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Afaik this is currently not supported, at least not by MoveIt.

There is something similar available (but does much more) in something called reuleaux. It may be a bit of work to get that working on recent ROS versions though.

gvdhoorn gravatar image gvdhoorn  ( 2019-02-06 09:08:50 -0500 )edit

@gvdhoorn Thanks, I will give it a try

joaocabogon gravatar image joaocabogon  ( 2019-02-06 12:31:47 -0500 )edit