ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
2019-01-11 12:36:50 -0500 | marked best answer | Fix time step in generated MoveIt trajectories I currently am trying to integrate MoveIt on a custom robot. The robot already has the capability to accept position-velocity trajectories which are defined over a fixed control rate (i.e t1-t0 = t2-t1 = dt) and execute. Therefore my implementation of a FollowJointTrajectory action would be very simple as long as I make sure it only accepts goals with a fixed time step. I think this also makes sense from a real-time control perspective. The time step can change per trajectory, but must be the same within each one. My problem is the trajectories generated by MoveIt have sporadic time deltas. I have tried setting the rate parameter in controllers.yaml but appears to do nothing and I can't really find any documentation that deals with this issue. Here is an example of the time deltas of a MoveIt trajectory: Is there anyway I can force MoveIt to generate trajectories evenly spaced along time? I would rather not have to interpolate the trajectory points in my action server, although this is currently my backup solution. |
2018-07-19 15:31:08 -0500 | received badge | ● Famous Question (source) |
2017-12-04 04:17:28 -0500 | received badge | ● Notable Question (source) |
2017-12-01 08:31:36 -0500 | received badge | ● Popular Question (source) |
2017-11-30 09:11:33 -0500 | asked a question | Fix time step in generated MoveIt trajectories Fix time step in generated MoveIt trajectories I currently am trying to integrate MoveIt on a custom robot. The robot al |