Currently, MoveIt2Plan only executes a single cartesian plan. However, due to limitations in the cartesian interpolator, this planning call may only have completed a fraction of the requested distance. Empirically, I have found that just calling 1-2 other cartesian planning calls from the end of the previous one can be sufficient to complete the motion. Thus, we should consider adding a flag to MoveIt2Plan that allows it to engage in up to n carteisan planning attempts until the end of its trajectory is at the goal, and then concatenate them together.
Currently, MoveIt2Plan only executes a single cartesian plan. However, due to limitations in the cartesian interpolator, this planning call may only have completed a fraction of the requested distance. Empirically, I have found that just calling 1-2 other cartesian planning calls from the end of the previous one can be sufficient to complete the motion. Thus, we should consider adding a flag to MoveIt2Plan that allows it to engage in up to
ncarteisan planning attempts until the end of its trajectory is at the goal, and then concatenate them together.