Hi,
I am working on a RPP robot with and end effector with 1dof. The robot is designed to work in a mirco channel printing station. I run the cpp code given below to move my robot to two points. `
#include
#include
#include
#include
#include
#include
int main(int argc, char **argv)
{
ros::init(argc, argv, "move_group_interface_tutorial");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
sleep(2.0);
moveit::planning_interface::MoveGroupInterface group("arm");
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
ros::Publisher display_publisher = node_handle.advertise("/move_group/display_planned_path", 1, true);
moveit_msgs::DisplayTrajectory display_trajectory;
ROS_INFO("Reference frame: %s", group.getPlanningFrame().c_str());
ROS_INFO("Reference frame: %s", group.getEndEffectorLink().c_str());
// PLANNING AND MOVING TO FIRST POINT
group.setStartStateToCurrentState ();
group.setPositionTarget(-0.147,-0.244,0.278,"finger");
group.move();
//PLANNING AND MOVING TO SECOND POINT
group.setStartStateToCurrentState ();
group.setPositionTarget(-0.282,0.009,0.278,"finger");
group.move();
ros::waitForShutdown();
sleep(5.0);
ros::shutdown();
return 0;
}
I am using kdl ik solver.
But the result obtained (broken into 3 steps) is given below:-
STEP 1-The robot move to the first point from the zero-position** with proper obstacle avoidance.
Image: point1 correctly reached. https://imgur.com/SDvIvX5
STEP 2-Then the robot comes back to zero-position ***by crashing into the obstacles.*** (I don't want this robot to come to zero-position. Bcs the next point is very close to it.)
crashing image: https://imgur.com/3O76uWf
zero postion: https://imgur.com/gCQXnTU
STEP 3-Then robot moves to the second point prescribed very nicely with proper obstacle avoidance.
STEPS 1 and STEP 3 are only desired. I dont want step 2. What is that i should do? I feel i have no more stones left unturned. Kindly help.
**How to avoid the robot going to home position in between every two planned points?
(While going to the home position, collision is also not checked)**
NB: **zero position is not set by me. It is the pose in which the CAD model was created.
I have also tried `setApproximateJointValueTarget()`. But results are the same as mentioned above.
I am using ros melodic and kinetic (issues exist on both)
I am a beginner .**strong text**
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