This is just a discussion of if and how to integrate real-time motion planners in MoveIt! Currently the jog_arm package does this with a Jacobian-based jogger -- it subscribes to joystick commands or force feedback commands to calculate a trajectory. I'm OK keeping this as a separate package but there are lots of advantages to moving under the MoveIt! umbrella, I think. Of course, it's also worth considering how future real-time planners might fit in... The jog_arm package has a C++ API that makes it easier for users to provide a jogging command programmatically. Usage of the API is like this, at present: > // Send motion commands with a jog_api object: > std::string move_group_name = "manipulator"; > jog_api jogger(move_group_name); > > // 1cm tolerance on the linear motion. > // 0.01rad tolerance on the angular > // Scale linear velocity commands between -0.5:0.5 > // Scale angular velocity commands between -1.0 : 1.0 > // Timeout, i.e. stop sending commands, after 10s > if ( !jogger.jacobian_move(new_pose, 0.01, 0.01, 0.5, 1.0, ros::Duration(10)) ) > { > ROS_ERROR_STREAM("Jacobian move failed"); > return 1; > } Pros of the real-time Jacobian planner, in comparison to the current MoveIt! planners: * Determinism (if starting from the same pose, with the same target, its motion will be repeatable) * ~0 planning time * No reconfigurations, i.e. sudden, wild swings of the arm * The trajectory can be altered in real-time Drawbacks of the Jacobian planner: * Trajectories can't be previewed in RViz * The planner takes a straight line -- it doesn't know how to plan around obstacles, singularities, or joint limits * This Jacobian technique is generally only useful over short distances. Thanks! --- [Visit Topic](https://discourse.ros.org/t/a-real-time-motion-planner/4354/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: