Hello,
So I have a cpp program where I input a set of points (x,y,z, rotation matrix[9]) which is a path along a point cloud object. I then send this set of points to moveit's cartesian path planner, where I receive a Joint_Trajectory message which I then publish to the robot streaming interface to the live robot. Regardless of I am connected to the live robot or not, the message is published to rviz, and usually the robot model is loaded.
The set of points are computed in Matlab, and were originally not moving normal to the pointcloud object, but once the points computing algorithm was corrected, the robot model is not loaded and the cartesian planner is unable to finish the path. The simulation on MATLAB shows a correct result, and the simulation in rViz shows an incorrect result.
The problem is, that with some point sets the robot model is loaded and can compete 100% of the path, and with some point sets the robot model is not loaded regardless of how much of the path was completed (sometimes even 100% path).
How do I solve this problem? What could be wrong?
Thank you for the help
Shreyas
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