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ZebraDevs / fetch_ros

Open ROS Components for Robots from Fetch Robotics
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Increased collision checking #122

Closed dekent closed 5 years ago

dekent commented 5 years ago

Much more collision checking = much safer robot with minimal planning time increases

dekent commented 5 years ago

We had some issues during development for the FetchIt! challenge where MoveIt! would let through trajectories that collided with obstacles that were clearly added to the collision scene, or where trajectories would frequently be repeatedly generated but rejected by collision checking post processing.

Increasing the discritization on collision checking significantly improved performance, and path planning times to arbitrary goal poses, with all processing on board our robot, were all under 1 second.

We'd recommend making the default behavior perform this extra collision checking, because it made our robot both a lot safer and more consistent without a significant impact on planning times.