Moveit motion planning through joint poses

asked 2022-11-25 14:58:31 -0500

StarDust
1 ●1 ●3

Hi,

I have used Moveit C++ api to computeCartesianPath through a series of geometry_msgs::Pose type. How do I achieve the same through a series of poses in joint space? I only see the setJointValueTarget() to a single joint target.

answered 2022-11-26 08:28:01 -0500

Mike Scheutzow
4918 ●2 ●430 ●45

The simplest way is to do this is to not use moveit: manually create a trajectory_msgs/JointTrajectory message, then use an action client to pass the message to the follow_joint_trajectory action server.

If you insist on using the moveit API, which will require more work on your part, manually create a moveit::planning_interface::MoveGroup::Plan object and then call execute(plan).

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Would I be able to plan through multiple waypoints in one shot and not have to plan segments individually? I would like a smooth blended path through the waypoints.

StarDust ( 2022-11-26 09:18:56 -0500 )edit

There's no function to do this out of the box, but I am certain a pull request would be welcome. You can try to add it to MoveGroupInterface. Make sure to get feedback early. How to design this method appropriately is not at all a clear or easy decision.

fvd ( 2022-11-27 04:24:13 -0500 )edit

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