Ask Your Question
0

What is the /move_group/sense_for_plan/max_look_attempts param?

asked 2019-02-26 14:54:42 -0500

nisur gravatar image

System: Ubuntu 16.04 / ROS Kinetic / Nuvo-5095GC-022 / Universal Robots UR10 Packages: freenect_stack, geometry2, libfreenect, perception_pcl, trac_ik, universal_robot, ur_modern_driver, rqt

I've been looking at rqt in more depth and today stumbled across the dynamic reconfigure functionality. Under the move_group tab, it's possible to dynamically change a parameter called max_look_attempts that i haven't seen before. The gui looks like the below:

image description

What is the function of max_look_attempts? Changing the value whilst running a node to move the robot doesn't result in any obvious difference that i can see, despite me having an octomap running and the robot traversing obstacles every now and again. Is it a kind of pseudo-continuous collision checking?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2019-02-26 15:05:11 -0500

gvdhoorn gravatar image

From the tooltip in the dynamic_reconfigure file (sic):

Set the maximum number of times a sensor can be pointed to parts of the environment doring a motion plan

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2019-02-26 14:54:42 -0500

Seen: 16 times

Last updated: Feb 26