Moveit parametically disable one joint
Hi all,
I am currently planning the motion of my robot using <move_group_interface.h>. I am aware that I could deactivate one joint in config files (urdf or srdf). However is there any possibility for instance to exclude the 2. joint for the given motion task. I would like to realize this in a higher level like in the move_group_interface.cpp, because the deactivated joint has to be activated again in different environments.
Can you update if you solved it? I am facing the same issue.
Did the current answer not work for you? It looks correct.
No unfortunately I couldn't make the solution work. Here is my trial after the answer: constrained move code. I check if I could make the constraints work at lines 50-52-61, I couldn't set. Then I tried (abnormally) attach the constraint to the
goal_poseyet it didn't work. I don't know how/where to attach the constraints apparently...Also I tried attaching the constraint to my group (
arm_groupinstead ofgoal_pose) but I get the same error:I tried using
arm_group.set_path_constraints(goal_constraint). It sets only path constraints.arm_group.get_path_constraints()returns something butarm_group.get_known_constraints()returns still nothing.I don't know how to connect the constraints to my motion plan.