Hello all, I am currently working with an lbr-iiwa arm and I am trying to integrate the replanning abilities to our robot. Digging into the MoveIt! code I understood how MoveIt! works with the replanning. I am moving my robot with the move() function and getting my obstacle map with octotree There is a function plan_execution::PlanExecution::isRemainingPathValid that is constantly checking if the trajectory of my robot is in collision with any obstacle. In case it is, isRemainingPathValid will provide a true, the variable path_became_invalid will be set to true, the trajectory_execution_manager will stop the motion and a moveit error_code MOTION_PLAN_INVALID_BY_ENVIROMENT_CHANGE will be set making the robot to plan a new trajectory. What I would like to do is avoiding the robot to stop and replanning considering that the robot is not stopped, but moving forward in the incorrect trajectory. I would like to know if somebody knows about any work in this non-stop replanning approach --- [Visit Topic](https://discourse.ros.org/t/online-replanning-through-moveit-withouth-stopping-motion/5024/1) 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: