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1 | initial version |
in case of computeCartesianPath(..)
there is no support for scaling velocities/accelerations.
You can control the speed by using retime_trajectory(..)
:
waypoints = getMyWaypoints()
(plan, fraction) = group.compute_cartesian_path(
waypoints,
0.01,
0.0
)
plan = group.retime_trajectory(moveit_robot_state, plan, speed)
group.execute(plan, wait=True)
2 | No.2 Revision |
in case of computeCartesianPath(..)
there is no support for scaling velocities/accelerations.
You can control the speed by using retime_trajectory(..)
:
waypoints = getMyWaypoints()
(plan, fraction) = group.compute_cartesian_path(
waypoints,
0.01,
0.0
)
plan = group.retime_trajectory(moveit_robot_state, group.retime_trajectory(moveit_commander.RobotCommander().get_current_state(),
plan, speed)
velocity_scaling_factor)
group.execute(plan, wait=True)