How does time influence moveit motion planning?

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Thank you for your reply! I'm using set_pose_target() function from MoveIt! and the FollowJointTrajectory control for all the actuators. Is it still a path if I use OMPL in that way?

OMPL plans paths, not trajectories. It doesn't matter which way you ask Moveit to plan it, in the end it's OMPL (unless you've configured a different planner to be used).

Thanks a lot, it's much clearer now!

@gvdhoorn does any of the current planners in Moveit set velocities/accelerations for the joints or is this done in post-processing with e.g. Iterative Parabolic Time Parameterization or Iterative Spline Parameterization?

Please don't post questions in comments under questions with already accepted answers.

Post a new question.

@gvdhoorn I think it is still relevant for this question. But the path returned by .plan() of the moveit commander returns a message of the type: http://docs.ros.org/kinetic/api/traje... . How does the time_from_start get involved if ompl doesn't return it. This link also point to the time dependency of the moveit commander functions: https://books.google.nl/books?id=wY2R...

@funky_watermelon I think that is a very valid point and I'm interested to hear what @gvdhoorn thinks!

It may be relevant, but it's a different question (which I believe also has already been answered).

The OP's question was: "how does timing information influence path planning?"

Your question is: "where does the time info even come from?"

Those are two different questions, and accordingly, should be asked in different posts.