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Box constrains hardly works #1030
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Thank you for reporting this. Unfortunately, this package's maintainers aren't MoveIt! experts themselves, so we can't really provide any insightful information. However, if there is anything we can change with the default settings to improve that situations, it might be good to change that here, which is why I will leave this issue open. I suggest, that you ask somewhere else, e.g. on robotics.stackexchange.com (please also reference this issue there). |
Did you properly configure the e.g. in the
From my understanding constrained planning uses this projection in order to only sampling within the constrain region. If you just want to move from to a certain cartesian position it might be worth taking a look at the pilz planner in moveit. Which allows for linear and circular (deterministic!) motions. |
Affected ROS2 Driver version(s)
2.2.13
Used ROS distribution.
Humble
Which combination of platform is the ROS driver running on.
Ubuntu Linux with standard kernel
How is the UR ROS2 Driver installed.
Build the driver from source and using the UR Client Library from binary
Which robot platform is the driver connected to.
UR E-series robot
Robot SW / URSim version(s)
00
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
We are trying to move the robot from its current state to a goal state with specified XYZ coordinates and orientation using the MoveIt2 C++ API. To ensure the path is as smooth as possible, we are attempting to use box/line constraints.
However, we encounter a problem: even for very simple paths (e.g., moving -20 cm along the Z-axis), the robot often fails to find a path. Occasionally, about once in every 20 attempts, it succeeds and the robot moves, but this success rate is insufficient.
We expect to achieve simple movements like this reliably, and we are open to any suggestions for improvement.
Issue details
We tried several planners in OMPL (PRMkConfigDefault, SBLkConfigDefault, ESTkConfigDefault, LBKPIECEkConfigDefault, BKPIECEkConfigDefault, KPIECEkConfigDefault, RRTkConfigDefault,RRTConnectkConfigDefault, RRTstarkConfigDefault, TRRTkConfigDefault, PRMstarkConfigDefault)
with Kinematics solvers: kdl_kinematics and lma_kinemtaics.
Detailed description help us understand the problem. Code are welcome!
Expected Behavior
Smooth tranjectory between current pose to XYZ.
Actual Behavior
Without constrains the robot is "dancing" and with constarins to most of the time have no solution.
Relevant log output
Accept Public visibility
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