Sorry for the late reply, I didnt catch this message until now.

Thank you very much for trying out the plugin. I am very happy that you find it useful for your applications.

Regarding the issue you have unfortunately during the development process I haven't considered the possibility of using this plugin in dual arm configurations. The MoveIt group name, which is currently set as "manipulator" is hard coded in the current version of the plugin.

I think expanding the plugin would be very useful, but it could take some time. I am willing and would be happy to take a look at that and I have few design suggestions which I would like to propose in order to proceed with this expansion and of course hear community's opinion about them.

   1. We could consider each arm to have the same features as the current plugin but in the same time we have to provide separate Way-Point add/substract  for each arm(different color coding and labeling as well as when they are outside each corresponding arm IK solution). For example in a dual arm configuration we could have two user interaction markers which could be labeled corresponding to the name set during the MoveIt configuration of the package.

   2. All the way points corresponding to one robot arm should be devised into groups in the TreeView.

   3. We should generate Cartesian paths that avoid collision between the two robots and also let the user know when a certain way point from the first robot collides with the Cartesian path of the other robot arm.

   4. Execution of Cartesian paths. We should also consider at what point should each arm Cartesian path should be executed. For example different applications might not require simultaneous execution of the both arms during the Cartesian path. For simplicity I would propose the first development goal to be simultanious execution of both Cartesian path for the two arms.

These are some of the things I could quickly think about and it would be great to hear the opinions of the community and open a discussion.

If there is an interested in proceeding with this I would be happy to do it, also some points to some dual arm MoveIt configuration packages would be useful in order to develop and test this expansion.

Thanks a lot.

Risto

On Tuesday, October 7, 2014 2:19:13 PM UTC+2, Hammer987 wrote:

Hi Risto

Great job with your Cartesian Planner plugin, it is exactly the tool I was missing in RViz. I have tested it a little bit and found one issue I would like to ask you.

Your plugin works fine but only with planning group "manipulator". Is there any way how to use your plugin for dual arm robots ( for instance "r1" and "r2" groups)  or it is strictly limited to single arm configurations?

Thanks

Frantisek Durovsky