MoveIt for drones

asked 2020-05-24 13:54:25 -0500

AlexisGaziello gravatar image

updated 2020-05-24 13:55:41 -0500

Hello everybody,

I need help configuring a robot for using it with MoveIt. I basically want to use the planning interface to create cartesian paths for a "floating" robot. This means that my robot could be a simple link called "base", and a virtual floating joint between the fixed frame "world" and the "base".

I have managed to load it in MoveIt and when I move the robot somewhere and click on the plan button, the app is able to create a path: example (it's hard to see since it's an image but the transparent robot actually moves from the starting position to the new position)

The problem is that when I try to use the C++ MoveIt Interface, When creating the class with the planning_group in the constructor, I get a bunch of errors because there is no kinematic solver instantiated because there is a joint with 6DoF ( I guess the virtual joint).

Any ideas on how should I proceed?

Thank you for the help

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