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2011-06-29 21:23:06 -0500 | commented question | Planning an arm-motion using ompl_planning and trajectory_filter Hello, Sachin. I'm using ROS diamondback. |
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2011-06-15 23:46:21 -0500 | asked a question | Planning an arm-motion using ompl_planning and trajectory_filter Dear community, I am working on the cob3 robot arm using motion-planning from the cob_arm_navigation stack. It is modified successfully so far to use it on the real robot arm. To detect collision objects the arm uses a TOF camera publishing point clouds. After self filtering the point cloud with the robot model the arm is able to detect obstacles and avoid collisions. But there are sometimes problems with the trajectory_filter if i want to move the arm from one collision-free position to another with an obstacle in between using OMPL planner. In a few cases it is possible for the arm to find a path and move it collision-free. Thats the output to screen if there is a problem with the trajectory_filter:
After several outputs like that it is possible that there is a valid trajectory and the arm moves collision-free to its goal. That looks like this:
But the OMPL planner is always successful. My Configs:
Questions:
If you have some question or the problem is not described well enough let me know. Regards Witalij |