过程中至少会新建一个线程:TrajectoryExecutionManager::executeThread。如果控制器插件MoveItControllerHandle转换point较复杂,会在executeThread线程内再新建一个线程,内中处理转换point和发布,像ThreadedController::execTrajectory。 一、MoveGroupExecuteTrajectoryAction::executePathCallback @goal[IN]。plan生成的轨迹。 void...
I'm currently able to plan a move usingOMPLandMoveit2and execute it in the simulator with the robotPanda. I am also able to plan the pick and place task having used the following tutorial. The problem arises when I try to execute the pick and place then planned in the simulator. The ...
I am working with a UR3e arm with an RG2 gripper. When I execute the task the robot continues through the stages while the gripper is closing/opening rather than waiting for the gripper to complete it's execution. From moveit_core/contro...
Robust trajectory execution is an extension of cooperative collision avoidance that takes pre-planned trajectories directly into account. We propose an algorithm for robust trajectory execution that...doi:10.1007/978-3-030-05816-6_12Baskn enbalar...
A method, system, and computer program product for non-real-time trajectory planning and real-time trajectory execution. A trajectory planning process receives data generated by high-level control software. This data defines positions and scan velocities, where multiple axis motion must be precisely ...
TRAJECTORY GENERATION AND EXECUTION ARCHITECTURETRAJECTORY GENERATION AND EXECUTION ARCHITECTURETechniques for generating and executing trajectories to guide autonomous vehicles are described. In an example, a first computer system associated with an autonomous vehicle can generate, at a first operational frequen...
The examples show different applications of trajectory execution including planning, control, and simulation for shape tracing and pick-and-place workflows. Functions expand all Time-Optimal Trajectory Minimum Jerk and Snap Trajectories Trapezoidal Velocity Profile Trajectory ...
The planning and execution is verified in simulation, using a system that is constrained to two dimensions. The trajectory planner successfully plans a collision-free path for the quadrotor with suspended payload through an environment with obstacles, tunnels and vertical chimneys. The regulator ...
Throughout the video, you will see several MATLAB®and Simulink®examples testing different types of trajectory generation and execution using a 3D model of the seven-degrees-of-freedom Kinova®Gen3 Ultra lightweight robot. For more information, refer to these links: ...
Fixed Typo get_trajectory_execution_manager in planning.pyi file 5a14021 Merge branch 'main' into fix-typo-get_trajectory_execution_manager-pyi edb7876 sea-bass approved these changes Oct 13, 2024 View reviewed changes Contributor sea-bass left a comment Change looks good, CI is struggling...