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ros-industrial / stomp_ros

ROS packages for the STOMP planner (split out of industrial_moveit)
Apache License 2.0
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Vibration of trajectory when using stomp #41

Open Wang-Ruohan opened 2 years ago

Wang-Ruohan commented 2 years ago

Hi, I use the stomp planner to do motion planning. When there is no object/obstacle in the planning scene, it works well. However, when the obstacle adds to the planning scene, the planned path is quite strange. See this video: https://www.youtube.com/watch?v=bCqXP7BmIsA Have you meet this problem? Is there any method to solve it? Thanks a lot!

Levi-Armstrong commented 2 years ago

There may be some filters that can be applied. Another option is to try out the Tesseract Motion Planning Framework which generations nice smoother trajectories leveraging TrajOpt.

Wang-Ruohan commented 2 years ago

I have tried to add some filters, that helps a lot, the trajactory becomes smoother before, thank you! As for TrajOpt, I would like to have a try later.