PilzDE / pilz_industrial_motion

Industrial trajectory generation for MoveIt!.
https://wiki.ros.org/pilz_industrial_motion
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Configuring planner #218

Closed dabhijeet closed 4 years ago

dabhijeet commented 5 years ago

How can we configure pilz_command_planner? (Like OMPL can be configured by changing ompl_planning.yaml)

agutenkunst commented 5 years ago

Hi @dabhijeet , you need to load the capabilties pilz_trajectory_generation/MoveGroupSequenceAction pilz_trajectory_generation/MoveGroupSequenceService and pass it to the move_group as arg.

Furthermore you need https://github.com/PilzDE/pilz_robots/blob/melodic-devel/prbt_moveit_config/launch/pilz_command_planner_planning_pipeline.launch.xml placed in your moveit_config/launch folder.

If you send me a link to your robot package maybe I can help integrating it.

dabhijeet commented 5 years ago

Hi, We have already loaded the above capabilities. When we were using OMPL we got to know that each parameter of ompl_planning.yaml needed to be fine tuned in order to get rid of vibration and have smooth motion. (i.e. longest_valid_segment_fraction, maximum_waypoint_distance, max_sampling_attempts etc.) But in pilz command planner there is cartesian_limits.yaml and start_state_max_bounds_error parameter and by changing these parameters also we are not getting smooth motion in linear. so that is why we wanted to know how to configure pilz command planner.

jschleicher commented 4 years ago

Probably solved after #213.

logicraju commented 2 years ago

Hi @dabhijeet , you need to load the capabilties pilz_trajectory_generation/MoveGroupSequenceAction pilz_trajectory_generation/MoveGroupSequenceService and pass it to the move_group as arg.

Furthermore you need https://github.com/PilzDE/pilz_robots/blob/melodic-devel/prbt_moveit_config/launch/pilz_command_planner_planning_pipeline.launch.xml placed in your moveit_config/launch folder.

If you send me a link to your robot package maybe I can help integrating it.

Hi, i'm trying to integrate it in UR10. Could you help me please ? Regards