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real-time motion planning in moveit

asked 2019-03-13 12:33:55 -0500

hooman gravatar image

updated 2019-03-13 12:35:28 -0500

My question is about real-time motion planning in moveit or other ros packages. currently there are a good number of offline planners in moveit but is there any online and real-time planning method?

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I'm searching for a similar package too. I want to implement a real-time obstacles avoidance planning using ROS. Have you found any suitable solutions?

bottlesong gravatar imagebottlesong ( 2019-06-28 01:10:43 -0500 )edit

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answered 2019-03-19 09:51:52 -0500

elvenRobot gravatar image

You can refer to this link http://wiki.ros.org/jog_arm . It claims to send and adjust robot motion commands in real time.

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It probably depends on your definition of "planning", but I would not call jog_arm a planner (the OP refers to MoveIt).

gvdhoorn gravatar imagegvdhoorn ( 2019-03-19 10:26:02 -0500 )edit

Hi, thanks I have seen jog_arm and it's definitely a good package for tele operating an arm. I think they don't consider constraints such as joint position, velocity, and acceleration limits. Also I think environment constraints such as obstacles are not considered in jog_arm (see https://www.youtube.com/watch?v=8sOuc... )

hooman gravatar imagehooman ( 2019-03-19 13:29:20 -0500 )edit
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answered 2019-03-19 05:55:39 -0500

fvd gravatar image

I am pretty sure the short answer is "No", it is not made for high-speed servoing etc, but you could use its parts to make something that might suit your needs. The harder your real-time requirements and the more you need trajectories updated on-the-fly, the less likely it is that you will have an easy time.

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thanks,I have also been using it more for offline planning giving the optimization enough time to find good plans. Are there other packages that can do real-time planning under constraint?

hooman gravatar imagehooman ( 2019-03-19 13:31:20 -0500 )edit

I don't know of any. If offline planning is fine, implementing a method in MoveIt might be the most convenient option.

fvd gravatar imagefvd ( 2019-03-19 23:20:38 -0500 )edit

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Asked: 2019-03-13 12:33:55 -0500

Seen: 169 times

Last updated: Jun 28