MoveIt 1.1.6 vs 1.1.5

asked 2021-12-13 10:29:51 -0600

JobvanDieten gravatar image

I have recently started using MoveIt for a data acquisition solution. Our setup is a long camera on a Universal Robot. I have created a custom URDF xacro for our camera model, and created a custom package for it and linked to a robot model from UR ros package The URDF and customized moveit package seemed to work fine using Moveit 1.1.5. I had several poses defined for our camera link and was able to move between them. There was the odd extreme path taken between relatively close poses, but I was planning to rectify this using path constraints. I was trying out a new kinematics plugin which required Moveit to be upgraded to 1.1.6, and after this any movement between poses resulted in an extreme path with lots of motion (even if the pose difference was 2cm along one axis). This even stayed when I went back to the original config, and it didnt really matter which kinematics plugin or OMPL planning algorithm was used.

Does anyone know where in the new version of MoveIt a change may have been effected that would result in this?

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Hi @JobvanDieten take a look at this recent thread:

Looks MoveIt is making changes as it is working on ROS 2 version but affecting Noetic. You may want to raise an issue with this group as it's too coincidental.

osilva gravatar image osilva  ( 2021-12-13 11:39:41 -0600 )edit

The scene format does not influence motion planning, which it would appear is what the OP is observing behaving differently compared to the previous version.

@JobvanDieten: I would recommend to compare your kinematics.yaml with the version before you changed things to test "a new kinematics plugin". It's possible you've removed configuration values which result in different behaviour.

There could be other causes of course, but seeing as you specifically mention IK plugins, I'd recommend to start there.

gvdhoorn gravatar image gvdhoorn  ( 2021-12-13 12:56:32 -0600 )edit

Hello, thanks for the replies. I have tried out the previous configuration I had, and on 1.1.6 this still does not work. I have also confirmed on another computer with 1.1.5 that regardless of my kinematics plugins or ompl planners, 1.1.5 works as expected whereas 1.1.6 does not. As soon as I can, I will create a ticket as @osilva suggested

JobvanDieten gravatar image JobvanDieten  ( 2021-12-18 05:08:23 -0600 )edit