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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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Load only 1 joint-model-group kinematics solver from the srdf #2780

Closed buckleytoby closed 2 weeks ago

buckleytoby commented 3 months ago

My robot is composed of many move groups defined in the SRDF. I run different nodes for each of these move groups so I only need to load in the kinematics solver for that group specifically. However, the kinematics loader always loads all kinematics solvers, which is quite slow.

It doesn't make sense to split up the SRDF nor the URDF, as this is all one robot.

Is there a way to only load a single joint-model-group's kinematics solver?

github-actions[bot] commented 1 month 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 2 weeks ago

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

rhaschke commented 2 weeks ago

Is there a way to only load a single joint-model-group's kinematics solver?

No. The robot model will load all solvers for all groups.

It doesn't make sense to split up the SRDF, as this is all one robot.

That's exactly the way to go, if you want to limit different nodes to some groups, I would say. Consider using xacro to avoid duplication of SRDF code.