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Configurable time parametrization method for default cartesian path planner in moveit

asked 2019-10-31 17:53:25 -0600

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.

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answered 2020-03-01 05:05:13 -0600

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.

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Asked: 2019-10-31 17:53:25 -0600

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Last updated: Mar 01 '20