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moveit / moveit2

:robot: MoveIt for ROS 2
https://moveit.ai/
BSD 3-Clause "New" or "Revised" License
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Parameter jump_threshold of computeCartesianPath isn't documented #2233

Closed andrey-pr closed 9 months ago

andrey-pr commented 1 year ago

There is function computeCartesianPath of MoveGroup, it documented in doxygen but there is no information how big should be jump_threshold. 0.1? 1? 10? 1000? For my robot, if this value lower than 10, it computes only several percents of path. What value should I set?

github-actions[bot] commented 1 year ago

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

github-actions[bot] commented 1 year ago

This issue was closed because it has been stalled for 45 days with no activity.

marioprats commented 9 months ago

Hi, sorry it took so long to look at this. From the documentation:

 No more than jump_threshold is allowed as change in distance in the configuration space of the robot (this is to prevent 'jumps' in IK solutions).

This is maximum distance in radians for revolute joints, or meters for prismatic joints, for consecutive waypoints. The exact value to use depends on your application, but typically you want something very small (maybe around 0.1 rad). Solvable paths shouldn't require jumps much higher than that. If you are not getting solutions, it probably means that the path can't be solved.