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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?

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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

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

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Last updated: Feb 26 '19