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Trail Step Size ROS RVIZ Moveit

asked 2020-04-22 23:56:05 -0600

bao041115 gravatar image

Hello every one. I hope that having some ways to reduce trail Step size in ROS Rviz Moveit to 0.01 or lower (i want to have more waypoints return in rostopic execute_goal). Could you give me some advises to change it ? Thank you very much.

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answered 2020-04-23 04:07:14 -0600

v4hn gravatar image

The trail step size specifies whether states in the real trajectory should be skipped, you cannot magically add new waypoints with it (it does not do interpolation at all) and the rviz plugin also does not at all affect computation in the move_group node.

You might be interested to add a trajectory filter as a PlanningRequestAdapter in your moveit config in launch/ompl_planning_pipeline.launch.xml. They would filter the trajectory and use a different interpolation as required. It looks like none of the approaches in there support quintinc interpolation though, which seems weird to me...

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Thank you for your advises. I will research it

bao041115 gravatar image bao041115  ( 2020-04-23 04:38:52 -0600 )edit

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Asked: 2020-04-22 23:56:05 -0600

Seen: 147 times

Last updated: Apr 23 '20