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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
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.
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?
Yes, is it a right way to manually scale the velocities and accelerations to roughly meet the arrival time?
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.
Asked: 2019-03-07 19:37:37 -0500
Seen: 137 times
Last updated: Mar 08 '19
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