Path Planning Optimization and filter for universal robot UR5

[Carlos.]

Hi,

I'm a little confused about path planning optimization.

- What is the best way (on HYDRO) for path planning optimization and for filtering discontinuous points of a trajectory for UR5?

- Does  the “Path Planner Optimization and Planning Request Adapter” of http://rosindustrial.org/ric-americas/ftp-status/  runs well on HYDRO?

Best regards,
Carlos.

[Shaun Edwards]

Carlos,

I'm not quite certain what you are asking as far as path planning optimization.  Are you getting plans that are obviously sub-optimal or are you talking about smoothness of trajectories between sparse points

The FTP you mentioned should work under Hydro.

Shaun

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[drchri...@gmail.com]

Carlos,

    There are two ways to create optimal paths. First, just specify one of the optimizing path planners like RRTStar. However, RRTStar is quit a bit slower than RRTConnect. 

Next, one can post process a successful plan by adding a planning request adaptor. Planning request addaptors are chained. This means that the adaptor does the following

sequence of things

1. preprocess the request

2. Call the next planner in the chain

3. post process the plan returned from #2

One of the best things to do in a request adaptor is to try straight joint motion from start to finish to see if the simplest motion is collision free. If it is, then just break the chain and don't call the next planner.

I have had good success in calling RRT-Connect and then running a low pass smoothing filter on the results. An example exists somewhere in ROS-I. It was meant to illustrate how to write and use 

planning request adaptors. Smoothing runs the risk of causing collisions, so the new path should ideally be re-checked for collisions. 

I defer to others as to which adaptors and planners work in Indigo or hydro. -Chris