Get Failed Pose For Cartesian Planner
I know that the Cartesian planner will tell us what % of the plan was followed. However, is there a way to extract the intermediate pose where the planner failed. I want to visualize this pose to get a better understanding of why my robot fails sometimes in its environment (good debugging tool).
The last waypoint of the returned trajectory is the last successfully solved pose. Does that help?
Definitely helps thank you !
If you would, please post an answer to your question (maybe with some example code) and accept it to take this question out of the "Unanswered" queue.
I haven't got around to writing any code but as soon as I do (week) I'll post and accept the solution