Question

I am using the C++ interface for motion planning in MoveIt! (ROS Melodic). For a particular trajectory (or plan), I observed that it is possible to extract joint positions, velocities etc. Also, it is possible to extract end-effector position and orientation for the current pose. But I want to monitor the positions and orientations through which the end-effector passes in the whole path/trajectory while reaching the final goal pose. This can require extracting all those orientation and position co-ordinates of the end effector for the whole trajectory (in the plan). Could you please mention the ways in which this can be possibly achieved?

Asked by KP_learner on 2020-07-09 09:28:29 UTC

Answer 1

I guess you can you can use the member function of robot_trajectory::RobotTrajectory class to get the info of waypoints.

To convert the move_group plan to robot_trajectory::RobotTrajectory:

 moveit::core::RobotModelConstPtr robot_model=group.getRobotModel();
 robot_trajectory::RobotTrajectory trajectory(robot_model, planning_group);
 trajectory.setRobotTrajectoryMsg(*(group.getCurrentState()),plan.trajectory_);

Asked by xibeisiber on 2020-07-10 06:56:17 UTC

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Thank you for your suggestion.

I will check on how to get the information on position and orientation of waypoints from this trajectory. And then, I will try to implement it.

I will update about it over here.

Asked by KP_learner on 2020-07-11 12:37:03 UTC

Hey.. I tried out the above code snippet and the system did not show me any compile/run time error when I tried to extract robot state at different waypoints from the trajectory.

I checked the function documentation page, but I am not able to find the end effector position (co-ordinates) directly from the robot state. Hence, could you please tell me how that can be done?

(Please note: I am using ROS melodic)

Asked by KP_learner on 2020-07-18 09:58:03 UTC

How to find the end effector positions/co-ordinates for the whole plan (trajectory) in 'MoveIt!' ?

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