Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Path selection for object avoidance in Moveit!

asked 2021-01-28 05:32:30 -0500

mike_popcorn
3 ●2 ●3 ●3

Hello, everyone.

I would like to use Moveit! to avoid obstacles with a robot arm. I was wondering if there is a way to specify how to avoid obstacles in that case.

For example, when avoiding a cylindrical obstacle, if there is no problem with the arm's range of motion

Course 1: Go around in front of the obstacle
Course 2: Go over the obstacle

Both of these courses can be realized in Moveit!, right?

I would like to limit this course to one or the other. Is such a thing possible?

Thank you:D

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2021-01-29 20:37:29 -0500

fvd
2180 ●15 ●98 ●56

If the robot can find trajectories along those paths then sure, it's possible. But I don't think that there is a convenient way in MoveIt to specify "through-point goals" like you seem to imagine (except as waypoints for cartesian interpolations), so you would have to plan in multiple steps and concatenate the trajectories.

Pull requests to implement intermediate goals are welcome.

edit flag offensive delete link

Comments

Thank you for answering my question. For now, I would like to generate a multi-step trajectories. I'm still a beginner, but I'll do my best.

mike_popcorn ( 2021-01-29 21:26:42 -0500 )edit

Good luck, and feel free to post follow-up questions when you get stuck.

fvd ( 2021-01-29 23:11:51 -0500 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2021-01-28 05:31:37 -0500

Seen: 100 times

Last updated: Jan 29 '21

Path selection for object avoidance in Moveit! edit

1 Answer

Comments

Question Tools

Stats

Related questions

Path selection for object avoidance in Moveit!