Dynamically Modifying Joint Limits in MoveIt2

asked 2023-06-09 03:52:47 -0500

angcorcue2 gravatar image

I am using a 6-DOF robotic arm in MoveIt2 with ROS2 Foxy. The arm is mounted on a mobile robot platform and is responsible for performing manipulation tasks. Depending on the specific use case, trajectory planning works more effectively when adapting the joint limits in the URDF and the MoveIt control .xacro file. Is there a way to dynamically modify the joint limits from C++ using the Move Group interface or a similar approach? Ideally, I would like to be able to make these changes based on the application requirements.

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Afaik this is still not supported, but do check the MoveIt 2 source repository (particularly the PRs). I seem to remember some work towards this, or at least some discussion.

gvdhoorn gravatar image gvdhoorn  ( 2023-06-09 13:46:31 -0500 )edit