How to use planners in Moveit?
Hi Community, i'm a newbie of ROS and i'm working on a project in which i have to control a robot Yumi of ABB (IRB 14000), searching in the web i found the ROS packages for the Yumi link. After playing around and working with the same points i have notice that each time i'm executing the code the trajectory is different and sometimes very different, there is a way to constraint better the choice of the trajectory? I searched and found that changing the file: "ompl_planning.yaml" is possible to change and add different planners and so i changed this the RRTConnect into:
RRTConnectkConfigDefault:
type: geometric::RRTConnect
optimization_objective: MaximizeMinClearanceObjective
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05
delay_collision_checking: 1
in order to achieve better accuracy, but this is not true, do you have some advices/references? Thank you so much
PS: I'm using ROS Kinetic
What is "not true"? Is accuracy the problem, or that the robots are doing very different motions? Could you provide a video or two of the issue?
Hi, thank you so much for your answer. I tried also today to execute again the program and i make 2 videos that i joined together here the youtube link: Yumi ABB with ROS Kinetic and Moveit. If you see the first time the left arm make two "full turn" for reaching the same pose, instead the second time no. I understand that infinity solutions exist for the same pose (particularly with an arm with 7DOF) but i don't understand how to control and constraint "better" this. If you want i can share also the code and the log.