moveit cartesian plan subframe
I'm looking into how to use MoveIt! to have a robot grab a tool, and then plan a path using the subframes of the attached tool. I followed the guide for setting up an object with subframes here, but I have only been able to do things with move_group like plan and execute. When I try to make a path with computeCartesianPath, I get the error Link object0/tcp not found in model.
I'm not exactly sure how to proceed from here, everything works properly using plan and execute, and I get the expected positioning of my eef with respect to my planning frame, but simply swapping out for computeCartesianPath doesn't appear to be liking the subframes.
Does anyone know a way to get this working properly?
Other details:
- moveit 1.1.9-1focal.20220427.162832
- ros Noetic
I can provide more info if needed.
This is being addressed here.
It appears that as of this release, this capability is not supported, and it needs to go through a plugin.
hi, I'm also working on the same problem, that is, to compute cartesian path based on a series of waypoints for a subframe? Kindly asking if you have solved the problem? Any code sample could be helpful. Thanks.