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hi
i have multiple waypoints (std::vector<geometry_msgs::Pose> waypoints)
i can plan these waypoints using computeCartesianPath:
computeCartesianPath( waypoints, eef_step, jump_threshold, trajectory, true );
i think "computeCartesianPath" equals moveL function.
how can i plan moveP
MoveP will move the tool in linear motion at constant speed with circular blends. The size of the blend radius is per default a shared value for all the waypoint. A smaller value will make the path turn sharper whereas a higher value will make the path smoother. reference
The Pilz Industrial Motion Planner provides such an implementation in MoveIt. reference prior question
A specialized MoveIt capability takes a moveit_msgs::MotionSequenceRequest as input. The request contains a list of subsequent goals as described above and an additional blend_radius parameter. If the given blend_radius in meter is greater than zero, the corresponding trajectory is merged together with the following goal such that the robot does not stop at the current goal
Asked: 2022-01-11 01:18:12 -0600
Seen: 164 times
Last updated: Jan 11 '22
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You'll want to explain (for others) what "moveP" actually does. I believe you're referring to a specific motion type on Universal Robots, but it's not universal terminology. So without describing what you're trying to achieve, it's going to be difficult to help you.