Open LordAbraham opened 3 months ago
According to the error message, the controller complains about non-increasing time between waypoints 0 and 1. This is a problem of the timing generation in MoveIt. Not an MTC issue.
Hi, thanks for response. I know it's because of problem with ompl timings, but this problem for me is exclusive for MTC. Nevertheless, I will try to find answer on ompl thread.
I don't think this is OMPL-related. Only the time parameterization is failing.
@LordAbraham I had a very similar issue and I am not sure if it s relevant to you, but when you create your ros node make sure to override parameters from defaults
rclcpp::NodeOptions options;
options.automatically_declare_parameters_from_overrides(true); //Not having this caused my planner to give zero time to all trajectory points - so cartesian planners work but OMPL plannners do not.
std::shared_ptr<CustomMtcPipeline> mtc_node = std::make_shared<CustomMtcPipeline>(options);
Hi,
I have weird problem in MTC ROS2 Humble branch. Problem is created only while executing ompl path, on pilz everything works as it should. I tried setting TimeOptimalTrajectoryGeneration manually in properties of planer to match my moveits config. In rviz and by moveit api ompl works fine, problem is only in MTC.
my code:
While executing plan i get this error: