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Using MTC to Plan a Circular Path #359
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Here's a quick way to see the non-circular path currently generated for a non-TCP frame. I tested using the latest ros2 branch of MTC and main branch of moveit2 at the time of this writing. I did the following:
The planning should be successful, but if you look at the 'panda_ee_link' frame during the 'rx +45°' and 'rx -90°' motion, you'll see that instead of the |
Thanks @rhaschke, What would be the best way to test this? PR #380 is a ROS1 fix while PR #1547 is a ROS2 fix. I tried to go about it by using your moveit2 cartesian-interpolator branch, then merging the MTC fix-cartesian-interpolation branch into the ros2 branch of MTC, but ended up with merge conflicts. |
If I find time tomorrow, I will try the merge. |
@swiz23: See #382 for a ros2 fix. You will also need moveit/moveit2#1547 |
Thanks, I'll try this out! |
Finally got the time to try this out and it works as expected! |
Tested for my application successfully! I'll close this issue once the PR gets merged. |
I'm actually working on using the Pilz motion planner as a planner within MTC that will give you a single circular arc trajectory, so you don't need a bunch of piecewise waypoints. If this is of interest, I can keep this issue updated as I find time to flesh out my proof of concept. |
Of course, the Pilz planner is another option to generate circular motions. But that wasn't the original issue here. |
Hey @rhaschke, Thanks so much for merging that in! I assume that will be merged into the ros2 branch soon as well? |
Yes, I‘m working on it… |
@JafarAbdi,
I'm having issues trying to use the ros2 branch of MTC to plan a circular path around a non-TCP frame (that already includes PR #322). I wrote up a question at ROS Answers describing the problem. Instead of copying and pasting it, I'm linking to it here. In a nutshell though the two main questions I have are:
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