Ask Your Question
0

Can Movegroup cartesian planner deal with arrival time?

asked 2019-03-07 19:37:37 -0500

flyinskybtx gravatar image

I am currently working on my robot arm follow a certain path with arrival timestamps. I have many waypoints and I want to control my robot to reach each waypoint at certain timestamps. However i couldn't find any way of adding this kindof time constraints.

could this be possible

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2019-03-08 02:27:58 -0500

gvdhoorn gravatar image

updated 2019-03-08 02:28:56 -0500

No, this is not supported.

Note also: computeCartesianPath(..) is not a planner. It performs a linear interpolation between two or multiple waypoints. That is rather different from a real planner.


Edit: I don't know whether it will be helpful in your situation, but you could take a look at descartes and / or trajopt_ros/tesseract.

edit flag offensive delete link more

Comments

thanks for the answer! I will take a look into the links you offered

I also found someone modify the joint_trajectory by factoring the time_from_start and velocities and accelerations. Could this be a good way to do so?

flyinskybtx gravatar image flyinskybtx  ( 2019-03-08 04:26:07 -0500 )edit

I also found someone modify the joint_trajectory by factoring the time_from_start and velocities and accelerations.

I'm not sure what you mean by that.

Are you saying you want to manually scale velocities and accelerations?

gvdhoorn gravatar image gvdhoorn  ( 2019-03-08 05:10:47 -0500 )edit

Yes, is it a right way to manually scale the velocities and accelerations to roughly meet the arrival time?

flyinskybtx gravatar image flyinskybtx  ( 2019-03-08 08:53:56 -0500 )edit

There will be a high chance that you'll violate limits of your robot that way, as the velocities and accelerations that are there are based on the limits of your robot. If you start changing them manually, you'll have to take those limits into account. But if you start doing that, you might as well right a proper time-parameterisation plugin.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-08 08:58:46 -0500 )edit

Your Answer

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

Add Answer

Question Tools

Stats

Asked: 2019-03-07 19:37:37 -0500

Seen: 89 times

Last updated: Mar 08 '19