Closed cpr-fer closed 1 year ago
Regarding point 2: It appears as computeCartesianPath does not take the velocity and acceleration limits into account. Instead you have to manually change the timing of the trajectory.
See the following link for more info: https://ceti.pages.st.inf.tu-dresden.de/robotics/howtos/CartesianMovementSpeed.html
Regarding how to scale the start points correctly: https://github.com/ros-planning/moveit2/blob/humble/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_parameterization.h
The pick_and_place_vacuum example seems to offer not much over the other pick_and_place example. Ideas for improving it could include: