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sjahr / moveit2

:robot: MoveIt for ROS 2.0, Beta
https://moveit.ros.org/
BSD 3-Clause "New" or "Revised" License
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Add flag to indicate that joint interpolation is used as first choice #3

Open sjahr opened 2 years ago

sjahr commented 2 years ago

In order to have intuitive paths with OMPL As a user I want to the option to tell OMPL to use a joint interpolation between the current state and the goal state if it exists

Acceptance criteria: OMPL’s isStraigthLinPathValid feature is exploited by the MoveItCpp API