Moveit! motion planning How should I splicing several planned motion trajectories?

asked 2019-08-13 10:42:13 -0500

clownML1234 gravatar image

Hello guys,

When I use moveit! to do the 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 splicing 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 splicing them using AddTimeParameterization?

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Comments

Don't you mean "merging" instead of splicing? The former combines trajectories, the latter cuts them up.

gvdhoorn gravatar imagegvdhoorn ( 2019-08-15 04:01:59 -0500 )edit