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I am planning robot trajectories using MoveIt, sometimes the path is very long and I want to see only a specific part of the trajectory.
Is there a tool in ROS that provides a seek bar and allows me to pause/resume trajectories?
O wait. I missed this part:
sometimes the path is very long and I want to see only a specific part
If it's really just about visualisation -- instead of execution, as I initially understood your question: that has actually recently been added. See ros-planning/moveit#491.
The updated MoveIt! RViz Plugin Tutorial tutorial shows what this looks like now (in Introspecting trajectory waypoints):
My goal is to be able to pause/resume/seek the simulation. I'll take a look at this and try it!
I have tried it and it looks surprisingly easy at first sight. I won't select your answer as correct right now as I'm not sure yet how I can use it but it is certainly very useful. I will comment again when I understand more about how it works!
Basically the answer to your question depends on what you mean by "pause the simulation".
Pause gazebo? That's easy.
Pause the visualized trajectory in RViz? That's what the new Trajectory Slider is for.
Pause MoveIt's demo mode? That's not as easy. We could add a new execution mode 'in rviz' (or something like that) to the https://github.com/ros-planning/moveit/tree/kinetic-devel/moveit_plugins/moveit_fake_controller_manager (or write a new fake controller) and publish the last point displayed in RViz back to the fake controller. That way the fake controller could actually "execute" the Trajectory by showing it in RViz. That way you could pause the visualization in RViz and it would actually pause the execution.
It might be that you have to disable trajectory execution monitoring for this to work. At the moment, I'm unsure whether MoveIt monitors the execution process of the fake controllers.
Asked: 2016-06-24 10:33:50 -0600
Seen: 1,089 times
Last updated: Nov 05 '18
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Good question. I haven't seen something like that. It would be quite involved though: caching trajectories, sitting between MoveIt and whatever controller you have configured, recalculating
time_from_startand velocity/accel profiles, etc.@gvdhoorn should I open an issue on MoveIt issue tracker? This probably requires work in more packages than just MoveIt.
I would suggest opening one on the MoveIt tracker. At the very least we can discuss there where this sort of functionality could/should live.
Although I expect the consensus will be: if there is no (re)planning involved, implement an action server that supports what you want and use that.