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Hey, I was wondering if setPlannerId http://docs.ros.org/en/jade/api/movei... affects computeCartesianPath, http://docs.ros.org/en/jade/api/movei... or does it only affect plan http://docs.ros.org/en/jade/api/movei...
It affects only plan(). Somewhere in your moveit config is a file usually named ompl_planning.yaml. setPlannerId() is choosing one of the ompl planner configurations defined in that file.
computeCartesianPath(..) interpolates (linearly) between the provided (list of) poses. It doesn't use OMPL.
setPlannerId(..) configures/requests OMPL to use a specific OMPL planner.
@Mike Scheutzow: could you clarify what you mean by "it affects both"?
@gvdhoorn The API documentation for computeCartesianPath() says that it supports collision avoidance. I assumed that it invokes the ompl planner to handle that situation, but I have not looked at the source code to confirm that. Do you have better knowledge of what the actual implementation is?
computeCartesianPath(..) does not use OMPL for collision detection. It's part of robot_state these days, and has moved to CartesianInterpolator (here).
It uses setFromIK(..) to update an internal collision scene, and the loop basically exits as soon as that complains about a collision (here) -- or anything else for that matter.
I would also say/claim it doesn't plan as such. It's basically just a linear interpolation.
Thanks, but arent there also multiple cartesian panners? https://picknik.ai/cartesian%20planne...
There are -- although again: I would not call them planners. But computeCartesianPath(..) is not one of those. You cannot 'select' it using setPlannerId(..). You can only call the function directly.
All the other entries in the table on the page you link are either IK plugins (which you can't "select" either), MoveIt request adapters (which are either part of the pipeline or not, so not directly configurable at runtime), full-blown "planners" (in quotes as it's MoveIt terminology) or unavailable to the general public (Bolt fi).
Only the planners could you use setPlannerId(..) for, but I'm not sure that works for the Pilz Planner (it's a sibling to OMPL, not a planner within OMPL). You'd have to look into the multi-planner support to make something work. That doesn't exist in Jade (which is the documentation you linked), but I'm assuming you're not actually ...
Asked: 2023-01-27 12:24:25 -0500
Seen: 162 times
Last updated: Jan 30 '23
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