ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

Configurable time parametrization method for default cartesian path planner in moveit

asked 2019-10-31 17:53:25 -0500

Gokul gravatar image

Moveit offers three different time parametrization techniques which can be changed as per the user requirement from planning adapter. But the Cartesian path planner of the moveit always uses the IterativeparabolicParameterization technique as it is hard coded. This is already reported in the issue . I think, it would be best if it's configurable. I am happy to make the changes and do a PR. But, I want to know what would be the best way to do it.

Method 1: Making changes in the planning request adapter.

Method 2: Modifying the cartesian path plan service to accept one more parameter to choose the time parametrization method. I have already did this through this method. But , I am not sure whether is this the best way.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2020-03-01 05:05:13 -0500

fvd gravatar image
  1. You can already retime the trajectory obtained from compute_cartesian_path manually by passing it to your preferred algorithm.

  2. If you want it more accessible (although I don't know how much demand there is for this feature), method 2 seems more appropriate than method 1 at the moment.

  3. Long-term, the compute_cartesian_path function should work with the planning request adapters, too, so that one would probably be the more welcome change.

This discussion should go on Github, though.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2019-10-31 17:53:25 -0500

Seen: 143 times

Last updated: Mar 01 '20