Moveit- MoveGroupInterface::Plan, How can i store multi plan?

asked 2022-08-17 07:36:55 -0500

ibrahimztrk gravatar image

I try to doing that I have 2 arms on my robot like left arm and right arm. Also I have 3 move groups that botharm, larm and, rarm. I have some arrays which has joint angles for arms. I did each of these plans in moveit and cascade them. After planning I can execute this plan. Also I can save these plans to my directory as a json file. And than I can call this jsons and I can revalute same actions. Everything is OK.

But there are some difference between two motions (moveit motion and from json motion). Its not effective to use. I want to save or store this MoveGroupInterface::Plan variable. For example a have an array and it includes joint angles for "Hello" gesture and another also has "Goodbye" gesture. I want to plan for all gesture only once, and than if I want to execute one of them, I can call from stored thing and execute my gesture.

So, how can I store and call this information?


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I solved the problem. In "trajectory_msgs::JointTrajectoryPoint" there is a parameter called time_from_start. I added this parameter to my json file and the problem was solved.

ibrahimztrk gravatar image ibrahimztrk  ( 2022-08-22 01:57:15 -0500 )edit