MoveIt Set workspace relative to the robot pose

asked 2020-07-09 04:39:41 -0500

gcc05 gravatar image


I am looking into ways of setting the MoveIt workspace relative to the robot base-link (so it moves with the robot).

In my use-case, I am moving the robot around with move_base and then I want to use Moveit for motion planning. Given the dofs of my robot I need to make the motion plan including moving the base in order to be able to reach most of the positions. As the initial workspace is centered at 0 and is small, any plan after moving out of it fails due to being out of bounds.

I tried setting the workspace bounds with the move_group's set_workspace() to big values, but it doesn't seem to have any effect at all (not sure why?). Using the /move_group/default_workspace_bounds parameter seems to work. The issue with this approach is that it allows for too unconstrained movements.

The ideal scenario would be to be able to specify the workspace at the location of the robot, or at least be able to set the reference frame (as the setWorkspace() from the move_group_interface is fixing the frame). Is there any way to achieve this?

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