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ros-industrial-attic / industrial_moveit

ROS-Industrial movit meta-package (http://wiki.ros.org/industrial_moveit)
Apache License 2.0
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STOMP can't plan path avoid obstacle if using mimic joints #80

Open Yosukee opened 5 years ago

Yosukee commented 5 years ago

I tried STOMP using mimic joints, but STOMP can't plan path avoid obstacle. To use 6dof robot as 4dof, I change 2 joints to mimic joint. If I use robot(6dof) used not mimic, STOMP can plan avoid obstacle.

STOMP can do it if obviously there are no obstacles around but STOMP show error messages. 2

If theare are obstacles around, STOMP shows just these error messages and can't plan. 1png

Your environment

jrgnicho commented 5 years ago

@Yosukee yes stomp assumes that all joints are independent