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Will moveit accept a list of goals?

asked 2013-02-19 04:29:44 -0500

virgil93 gravatar image

updated 2013-02-19 08:41:57 -0500

I am currently using a custom node to accept a list of waypoints and send them one at a time to move_base when the current waypoint is successfully reached. So I can send it a path that the robot will travel.

Does moveit already have this functionality?

I saw the MotionGroup Action message that has the MotionPlanRequest member which in turn has the Constraints[] member. So I know it can accept a list of constraints but nothing I can find specifies the behaviour of that list.


To clarify, I want to be able to send an ordered list of waypoints in some frame to moveit. It will compute the necessary trajectory for the first waypoint. Once it reaches that waypoint moveit will compute the trajectory for the next and so on.

Example (I am assuming a local frame and units in meters):

(frame: "base_link", [(1,1), (3, -3), (0, 0)])

The robot will travel to 1 meter forward and 1 meter right, then continue on to 3 meters forward and 3 meters left (from the original location). I am not concerned about frames right now just the iteration through a list of waypoints.

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answered 2013-02-19 04:55:09 -0500

Dave Coleman gravatar image

Do you mean the ability to follow a trajectory? That would be performed by your own robot's controllers that listen to a "control_msgs::FollowJointTrajectoryAction" actionlib message. This action is sent from MoveIt.

Or are you looking at doing time parameterization of a list of waypoints, to generate velocities, accelerations and wait times for wach waitpoint? This can be accomplished by MoveIt.

I don't understand how that relates to the second half of your question about constraints though, I'm afraid.

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Got it. I haven't seen this functionality but your could easily just feed them one at a time to MoveIt as it completes each waypoint. You are desiring to have it plan all of it at once I presume?

Dave Coleman gravatar image Dave Coleman  ( 2013-02-19 18:27:44 -0500 )edit

No, it doesn't have to plan all the waypoints at once. Just the current one in the list. Thanks for your answer though.

virgil93 gravatar image virgil93  ( 2013-02-20 02:50:35 -0500 )edit

HI all I have knew how the time,velocities, accelerations is generated.They are look like a average value for smooth curve.

but I get a problem that I do't how to use time,velocities,accelerations to control a motor,I can't use them all.

clark_txh gravatar image clark_txh  ( 2017-03-08 01:40:27 -0500 )edit

answered 2013-03-18 07:58:15 -0500

isucan gravatar image

Sequence of goals is not supported by MoveIt, but the amount of code needed for this should be simple to add.

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Asked: 2013-02-19 04:29:44 -0500

Seen: 931 times

Last updated: Mar 18 '13