How to use Time-optimal Trajectory Generation in Moveit
I would like to know how can I use Time-optimal Trajectory Generation in Moveit Python API
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I would like to know how can I use Time-optimal Trajectory Generation in Moveit Python API
The moveit_resources repo is a good place to look up usage examples. A lot of the tutorials use it.
Inside of that repo, you can find this:
https://github.com/ros-planning/movei...
OMPL is the default planner that almost everybody uses. All you need to change is this line:
<arg name="planning_adapters"
default="default_planner_request_adapters/AddTimeParameterization
Change it to:
<arg name="planning_adapters"
default="default_planner_request_adapters/AddOptimalTimeParameterization
I agree that the MoveIt1 tutorial isn't the best. It's a little better in MoveIt2, at least.
Asked: 2022-11-18 14:06:49 -0500
Seen: 235 times
Last updated: Nov 18 '22
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Have you followed this tutorial that is the first Google result for your question? If yes, what are you stuck on? Please read the Guidelines for asking a question to improve your chances of getting more helpful answers.
I read the following tutorial, but it explains what the difference is, however I am looking for an example implementation. I will take care of the asking a question guideline.