Simultaneous trajectory execution #733
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Thanks for helping in improving MoveIt and open source robotics! |
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| Introduction | ||
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| MoveIt now allows simultaneous execution of trajectories, as long as, each trajectory uses a different set of controllers. For example, in a dual arm environment, each arm can execute a different set of trajectories without needing to wait for the other arm to finish moving or manually synchronizing the motion of both arm into a single trajectory. Optionally, a collision check is performed right before execution of new trajectories to prevent collisions with active trajectories. |
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| MoveIt now allows simultaneous execution of trajectories, as long as, each trajectory uses a different set of controllers. For example, in a dual arm environment, each arm can execute a different set of trajectories without needing to wait for the other arm to finish moving or manually synchronizing the motion of both arm into a single trajectory. Optionally, a collision check is performed right before execution of new trajectories to prevent collisions with active trajectories. | |
| MoveIt allows simultaneous execution of trajectories, as long as each trajectory uses a different set of controllers. For example, in a dual arm environment, each arm can execute a different set of trajectories without needing to wait for the other arm to finish moving or manually synchronizing the motion of both arm into a single trajectory. Optionally, a collision check is performed right before execution of new trajectories to prevent collisions with active trajectories. |
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| The following GIF shows simple example of simultaneous execution of trajectories through the **Rviz Motion Planning** plugin. | ||
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| .. only:: html |
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why is that needed?
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It is a very quick way to try the simultaneous feature from Rviz.
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I was refering to the .. only:: html only
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Oh, that. I guess it is not necessary, I just copy-paste it from somewhere.
doc/simultaneous_trajectory_execution/simultaneous_trajectory_execution_tutorial.rst
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| Setup | ||
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| The simultaneous trajectory execution feature can be enabled or disabled through the dynamic reconfigure parameter **/move_group/trajectory_execution/enable_simultaneous_execution**. | ||
| Optionally, an extra layer of collision checking, done right before execution of trajectories, can be enabled through the dynamic reconfigure parameter **/move_group/trajectory_execution/enable_collision_checking**. |
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Both parameters are on by default, here it sounds like they are both off by default
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Right, I change the explanation to make it clear that it is on by default, but it is configurable.
doc/simultaneous_trajectory_execution/simultaneous_trajectory_execution_tutorial.rst
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Description
Updating the tutorial
controller_configurationaccording to the changes introduced in moveit/moveit#3243 .Adding a tutorial for the feature proposed in moveit/moveit#3243