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Synchronized cartesian path between dual arms for moveit

asked 2019-12-01 20:13:57 -0500

hrk1859 gravatar image

updated 2019-12-01 20:51:24 -0500

jayess gravatar image

Hi, I have a question about cartesian path for moveit. I would like to control manipulator with dual arms synchronized to use cartesian path. From the link, Move Group Interface Tutorial

moveit_msgs::RobotTrajectory trajectory;  
double fraction = group.computeCartesianPath(waypoints,
                                             0.01,  // eef_step
                                             0.0,   // jump_threshold

We can set cartesian waypoints for move_group, could I make both arms with sync move by specifying both_arms for move_group?

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answered 2020-02-28 03:19:52 -0500

fvd gravatar image

Well, have you tried it? Yes, if you include both arms in move_group called both_arms and you set a goal for each of them, you can make both arms move at the same time. As long as the IK can be solved and the path has no discontinuities, there should be no problem.

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Last updated: Feb 28 '20