Replanning with Move()

[philip long]

Hi everyone,

I was hoping someone could clarify the following for me. 

Is it true that re-planning can only be used with "move" and not "plan" then "execute"?

Secondly if true, can we use "computeCartesianPath" with move such that the robot moves through a series of waypoints (without stopping)?

Thanks

Philip

[Moises Estrada]

Hey Philip,

I can only answer your second question. I have never been able to execute Cartesian paths with move, I use group.execute(my_plan);
The execution of which goes smoothly from one waypoint to the next.

Here is my robot doing Cartesian paths: https://www.youtube.com/watch?v=Gl_mZR0w330
 
I'll send the program doing the sine function.

Cheers,
Moises.

[philip long]

Hi Moises,

Thanks for your answer and code, I have only started to use moveit so every bit of advice helps.  

From my own work I think that in your example if an object appears on the path the robot won't re-plan using  group.execute(my_plan).  

Kind regards

Philip

[philip long]

Just a further question as I can't get replan to work with move. I have two desired positions defined in joint space and the robot moves back and forth between the two of them. At any given moment I can trigger an object in the workspace which without re-planning the robot would collide. If the object is triggered before the execution a suitable plan is obtained. However, if the object is triggered during execution the robot stops and I get the following message:

 " ABORTED: Motion plan was found but it seems to be invalid (possibly due to post-processing). Not executing. "

I thought the robot would stop then replan a new path?

Here is a small snippet of the code:

    moveit::planning_interface::MoveGroup group2("manipulator");

    robot_state::RobotState rs(*group.getCurrentState());

    group2.setStartState(rs);

    group2.allowReplanning(true);

    group2.setPlanningTime(10.0);

    group2.startStateMonitor(1.0);

 for (int j = 0; j <20; ++j) {

        int i=j%2 + 1;

        switch (i){

            case 1:

                group2.setJointValueTarget(q1);

                break;

            case 2:

                group2.setJointValueTarget(q2);

                break;

    }

      group2.setPlannerId("TRRTkConfigDefault");

      group2.move();

             sleep(1.0);

    }

Any help would be appreciated or if anyone has a small example of dynamic replanning I'ld love to see it.

Kind regards

Philip

[philip long]

In the end, the problem was twofold 

(1) I had to reduce the longest_valid_segment_fraction: 0.01 in the ompl_planning.yaml file

(2)  There was some an issue with the collision files in the urdf

Philip