Finding path which takes least time to execute in Moveit! Rviz

asked 2021-01-17 03:30:55 -0500

Rahu1 gravatar image

Hello Guys!

I am trying to find a path which takes least time to reach point A from point B. For planning the path I am using Moveit and visualizing it in Rviz. What I have observed while planning is that just beacuse a trajectory takes the shortest path, it doesn't mean it will take least time compared to other trajectories.

So what I want to do is to somehow get the time it will take to execute the path without actually executing in Gazebo. Since my laptop specifications are low, Gazebo runs very slowly and it will take a lot of time to execute and compare different trajectories. Is there a way I can get the execution time quickly from Rviz for a specific configuration of arm like velocity, acceleration, etc? Since I just need to compare different trajectories, it doesn't matter whether the time I get is actual execution time or not. Even if it is scaled, I am okay with it. I just need to compare different trajectories.

I also saw that there is motion slider in Rviz going on loop to show us the planned trajectory. If there is a way to find out how much time does it take for that loop to execute, I think it will be a scaled version of the execution time. But I don't know how to do it.

These are my system details in case any one needs it:

ROS Melodic 1.14.10

Gazebo 9.0

Ubuntu 18.04

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