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Moveit inefficient planner

asked 2022-07-26 03:57:19 -0500

amit_z gravatar image

Hey, I have setup my manipulator's Moveit Configuration Package using the setup assistant. I am using the OMPL planner and the trac_ik plugin. When I launch it and use the python interface, and plan for an end-effector pose, sometimes the planner does not give the most efficient path. For example, it will move much more joints than it actually needs to. How do I make the planner more efficient? And how can I tell if it's a problem with the planner pipeline or with the kinematics solver?

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answered 2022-07-26 08:19:40 -0500

AndyZe gravatar image

The cause is almost certainly OMPL, not TracIK. You can try increasing the planning time or use a different planner. PRM* is good for finding an efficient path but it probably takes longer to plan.

RRTConnect is very fast to plan but often does not find the best path.

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Asked: 2022-07-26 03:57:19 -0500

Seen: 114 times

Last updated: Jul 26 '22