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Concatenating trajectories

asked 2022-05-24 16:31:31 -0500

Omar Islam gravatar image

I'm working based on the moveit noetic motion pipeline tutorial and I implemented it on ym own robot and the visuals work fine now I want to execute this trajectory. So the display_trajectory used in the tutorial is a vector of trajectories and each one is separate so I want to know how to concatenate all these trajectories and execute them as a whole Thanks

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answered 2022-05-25 08:07:15 -0500

AndyZe gravatar image

The best way to do that is probably computeTimeStamps() within time_optimal_trajectory_generation.h. You'll have to write a bit of code to combine all your trajectory messages in one large robot_trajectory::RobotTrajectory, then run computeTimeStamps() to blend the vias together with velocities and accelerations.

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Asked: 2022-05-24 16:31:31 -0500

Seen: 59 times

Last updated: May 25