ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
2016-08-26 02:34:26 -0500 | received badge | ● Famous Question (source) |
2016-06-24 07:43:31 -0500 | received badge | ● Notable Question (source) |
2016-06-14 05:03:11 -0500 | commented question | How to plan for a shortest path using MoveIt? Which planning library are you using? This may result in longer paths |
2016-06-13 04:50:53 -0500 | commented answer | Moveit path planning with constraints fails Thanks for your answer! it works with a 4 out of 6 success rate with 60 seconds planning time. The ompl_planning.yaml file is restored to its default and maybe even a better performance can be realized after fine-tuning the variables. Thanks a lot! |
2016-06-13 04:47:00 -0500 | received badge | ● Scholar (source) |
2016-06-10 09:44:12 -0500 | received badge | ● Popular Question (source) |
2016-06-10 01:50:42 -0500 | received badge | ● Student (source) |
2016-06-09 09:41:51 -0500 | asked a question | Moveit path planning with constraints fails Hey, I'm trying to move an object with the kinova mico arm, using ROS and moveit, while keeping the end effector horizontal. Relocating an object proved successful, however when I add some path constraints the planning time shoots up to over 120 seconds, where 10 seconds sufficed before, and the success ratio has dropped to 1 out of 10. I tried to fine-tune the range variable between 0.05 and 3.0 at both the RRT and the RRTConnect libraries which didn't change anything in the results. The constraints are defined like shown below. The most common error from moveit is that the orientation constraints are being violated with some steps. I really want to bring down its planning time and bring its success ratio to at least 50%. Are there some variables I can add in the ompl_planning.yaml file? Or is there a better way to set its path constraints? |
2016-06-09 08:54:35 -0500 | received badge | ● Supporter (source) |