ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

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?

edit retag flag offensive close merge delete


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

2 Answers

Sort by ยป oldest newest most voted

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.

edit flag offensive delete link more


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 image hooman  ( 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 image fvd  ( 2019-03-19 23:20:38 -0500 )edit

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

skipPant gravatar image

You can refer to this link . It claims to send and adjust robot motion commands in real time.

edit flag offensive delete link more


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

gvdhoorn gravatar image gvdhoorn  ( 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 )

hooman gravatar image hooman  ( 2019-03-19 13:29:20 -0500 )edit

Question Tools



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

Seen: 1,376 times

Last updated: Jun 28 '19