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Docs and Debug Info for MoveIt Cartesian planner

asked 2019-10-09 04:01:27 -0500

x.ZM gravatar image

Hi, we are working on a project that needs a lot of Cartesian planning. But the results given by MoveIt is often not that ideal and we cannot find too much info about the default MoveIt Cartesian planner.

So, help needed from the community here...

  1. Is there any documentation about the Cartesian planner used in MoveIt by default?
  2. Besides the percentage of the given trajectory followed and the waypoints. What other info can we get for debugging? (e.g. if it is a local min, or reachability issue, or collision, etc.)

Thanks.

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Cross-post here: ros-planning/moveit#1688.

gvdhoorn gravatar imagegvdhoorn ( 2019-10-09 12:26:44 -0500 )edit

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answered 2019-10-10 08:35:27 -0500

updated 2019-10-10 08:40:39 -0500

You may want to take a look at the moveit_msgs/MoveItErrorCodes Message

When calling moveit::planning_interface::MoveGroup::computeCartesianPath, you can pass an optionnal argument error_code which is a moveit_msgs/MoveItErrorCodes Message :

double moveit::planning_interface::MoveGroup::computeCartesianPath  (   const std::vector< geometry_msgs::Pose > &      waypoints,
        double      eef_step,
        double      jump_threshold,
        moveit_msgs::RobotTrajectory &      trajectory,
        bool    avoid_collisions = true,
        moveit_msgs::MoveItErrorCodes *     error_code = NULL 
    )

This message contains some information about the failure

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Asked: 2019-10-09 04:01:27 -0500

Seen: 19 times

Last updated: Oct 10