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How to plan a path for consecutive pose goals using MoveIt

asked 2021-01-14 16:36:37 -0500

grivera3 gravatar image

I know how to plan a path from the default pose to a target pose, but now I want to do the following:

Plan a path for pose goals A, B and C such that the EEF moves from default state to A, then A to B, then B to C consecutively, without having the EEF return to the default state.

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answered 2021-01-15 10:22:21 -0500

APettinger gravatar image

I think you should take a look at this tutorial, which goes through a lot of MoveIt capabilities.

But high level, a plan includes a starting and ending position, both of which you can set. A common practice is setting the starting position to the current robot position, but you do not have to. See these lines of the tutorial:

moveit::core::RobotState start_state(*move_group.getCurrentState());
geometry_msgs::Pose start_pose2;
start_pose2.orientation.w = 1.0;
start_pose2.position.x = 0.55;
start_pose2.position.y = -0.05;
start_pose2.position.z = 0.8;
start_state.setFromIK(joint_model_group, start_pose2);

In your case what you want to do is plan and move from default to A, then plan and move from A to B, etc.

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Asked: 2021-01-14 16:36:37 -0500

Seen: 521 times

Last updated: Jan 15 '21