Hey guys,
I'm trying to drive through multiple waypoints and would like to use a cartesian planner for this. It is working when i plan for each arm individually cause i can plan for each endeffector but i have no clue how to set it up using a move group including both arms. For the IK solver it is explained in the tutorials (e.g. docs.ros.org/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html). But its not explained how to use a cartesian planner.
Thanks for your help!
Cheers,
Matthias
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