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Collision-free guarantee with move_group.plan() and RRTConnect

asked 2020-05-30 07:45:14 -0500

cv_ros_user gravatar image

I am using the OMPL planner and specifically RRTConnect to plan and move a robot. I am changing the longest_valid_segment_fraction parameter to a low value (0.001) as described in the tutorial to plan motion without collision for my task.

Sometimes, I observe some collision between the robot and the environment. I would like to know if for each robot configuration in the output of move_group.plan(), the joint positions in resulting trajectory_msgs/JointTrajectory, there is a guarantee that the robot is not in collision with the environment?

Because if it is the case, this would mean that the collision I observe is due to the trajectory interpolation between each JointTrajectory position done in the low-level controller. Probably only continous collision checking could avoid that.

If it is not the case, and the collision checking is done at a before stage, this would mean that I could post-process the moveit::planning_interface::MoveGroupInterface::Plan to manually check for collision and redo the planning if necessary.

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answered 2020-06-04 13:54:06 -0500

cv_ros_user gravatar image

Not really an answer...

Alternative to using g_planning_scene->checkCollision(c_req, c_res, *robot.robotState()); from the tutorial.

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Asked: 2020-05-30 07:45:14 -0500

Seen: 89 times

Last updated: Jun 04 '20