MoveIt motion planning - How should I splice several planned motion trajectories?
Hello guys,
When I use MoveIt to do motion planning, I want to set several middle points to make the robot arm move through all points and move to the goal.
I use OMPL planner to make the robot arm planning point to point. But obviously robot arm will stop at each point.It is not a complete and smooth trajectory.
I learned that the AddTimeParameterization can add the velocity and acceleration to each pose the planner planed. I want to splice these trajectories (only joint value) and use AddTimeParameterization to give each pose velocity and acceleration. But I don't know how to use the AddTimeParameterization in my code.
So when I get several trajectories, how can I splice them using AddTimeParameterization?
Don't you mean "merging" instead of splicing? The former combines trajectories, the latter cuts them up.