Add tolerances to computeCartesianPath

asked 2020-11-17 16:30:42 -0500

cv_ros_user gravatar image

updated 2020-11-17 16:31:17 -0500

Hi,

I am using the computeCartesianPath() to perform linear trajectory between two waypoints. Sometimes the function fails, probably because of the IK solver not able to find a solution (jump_threshold has been set to 0).

I am wondering if it is possible to pass tolerances for each interpolated poses, to try to reduce issues with the IK solver. While I can accept some 3D tolerances, joint limits and collision avoidance constraints must be respected.

Any ideas about a way to achieve that if it is not possible with the current API are welcome?

Wondering if it would be possible to use the Jacobian matrix to "find the closest direction vector" to a desired one where it would be feasible to move the arm?

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