search

neobotix / elite-robots2

MIT License
8 stars 1 forks source link

Changing the speed limit for cartesian space planning #18

Closed padhupradheep closed 1 year ago

padhupradheep commented 1 year ago

MoveIt defaults currently only plans path. It definitely has a time parameter associated with it, which needs to be manipulated in-order to achieve a smooth trajectory. There are different ways to do time parameterization (example spline based approach).

The only post processing step the moveit does now is to make sure the path generated are within the specified position, velocity and acceleration limits. But that does not mean that it will provide a smooth motion. For example, reaching the goal smoothly without an abrupt stop.

padhupradheep commented 1 year ago

Joint limits are not considered by any means... Need to look into this further.

padhupradheep commented 1 year ago

On the moveit side, the speed of the cartesian planning can be scaled utilizing the following functions: https://moveit.picknik.ai/main/api/html/classtrajectory__processing_1_1TimeOptimalTrajectoryGeneration.html#a7fb161f0df9bd1acb0a08cb339e43102