在Planning 下的 MotionPlanning 窗口中按 Plan 按钮,得到以下可视化的机械臂运动轨迹: Introspecting Trajectory Waypoints Panel-Trajectory-Trajectory Slider 可以实现轨迹逐点查看,结合Plan按钮可以实现自这一点开始直到目标位姿的运动过程播放。注:设置新的末端执行器开始或目标位姿后要重新plan,否则看到的是上一条轨迹...
* PlanExecution: Correctly handle preempt-requested flag[ #2554](https://github.com/ros-planning/moveit/issues/2554) * thread safety in clear octomap & only update geometry[ #2500](https://github.com/ros-planning/moveit/issues/2500) * Python interface improvements. Fix [#1966](https://gi...
The performance of the function to plan end effector trajectories with speed control was tested with eight experiments: A trajectory composed of different target speed sections (E1), a trajectory with slow acceleration able to reach the target velocity (E2), a trajectory with slow acceleration not...
Fourth, we want to avoid torso lift motions, which are very slow on the PR2. All of this is specified easily: auto* lookat_goal = new bio_ik::LookAtGoal(); lookat_goal->setLinkName("sensor_mount_link"); ik_options.goals.emplace_back(lookat_goal); auto* avoid_joint_limits_goal ...