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AndrejOrsula / pymoveit2

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services
BSD 3-Clause "New" or "Revised" License
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Question about cartesian value in ex_pose_goal.py #79

Open Averykla opened 19 hours ago

Averykla commented 19 hours ago

Hi author, I need to set a pre-grasp point during the robot grasping process, and then let the robot go down vertically with the posture of the pre-grasp point after the robot reaches the pre-grasp point to grasp the object. So I set the value of cartesian in your program to true during the process of the robot moving from the pre-grasp point to the grasping point. But after my test, I found that as long as I set the value of cartesian to true, my robot will move very fast. Is there any value in the program that can constrain the Cartesian path speed?

I tried cartesian_max_step, but the effect was not obvious. In addition, I would like to ask you a question. When my robot reaches the pre-grasp point, if I continue to use the original RRT planning algorithm, the robot will execute a very complex trajectory, sometimes going around in a circle and then going down to grasp the object. What path planning should I choose from the pre-grasp point to the grasping point?

Averykla commented 19 hours ago

I read this <Added setting of cartesian speed and acceleration #53>. I'm so Sorry, I don't have a deep understanding of MoveIt, so I still don't understand how to set the speed and acceleration values ​​of the Cartesian path.