I have a two move_groups which do not form a kinematic chain. Can moveit plan a path for two different groups?

asked 2019-12-23 13:13:49 -0600

pochak gravatar image

I have made it work in the following way:

  1. computeCartesianPath of group1 to get planned_path

  2. Manually (using a loop) push waypoints of joints in group2 to the joint_trajectory of the planned_path: loop{ planned_path.joint_trajectory.points[i].positions.push_back(waypoint[i])}

  3. then used computeTimeStamps (or retime_trajectory in python) to get the final planned_path

Is this the correct way to path for two different groups? Is there a better way which plans only once?

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