Hello All ,
I generated a set of waypoints in Matlab (rotation and translation), read them into moveit's cartesian planner, and requested a trajectory to be displayed in rviz.
This trajectory is not completing due to either the placement of the "waypoint frame" (frame waypoints were generated in) with respect to the "path frame" (frame that moveit's cartesian planner is in).
The waypoint trajectory I generated was a small circle about the X/Y/Z plane. I have previously generated straight lines, which work fine.
I also have a problem where the planner does not pick elbow up configurations, and defaults to elbow down configurations.
Does anybody have any insight on how to solve this problem?
I am using IKFast kinematics solver
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