is it possible to plan a trajectory with waypoints using PythonAPI? Currently, I take one point from the trajectory, plan and execute the motion, then take the next point and repeat the process. Can a trajectory for multiple waypoints be planned at once? I am using ROS 2 Humble and MoveIt 2 (main branch).
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$\begingroup$ Did you check the compute_cartesian_path function? $\endgroup$abrzozowski– abrzozowski2025-05-25 12:51:57 +00:00Commented May 25 at 12:51
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$\begingroup$ @abrzozowski this function is not available in python API $\endgroup$Crywolf– Crywolf2025-05-26 13:09:38 +00:00Commented May 26 at 13:09
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$\begingroup$ Are you sure? I don't use this Python API, but this function is available here github.com/moveit/moveit/blob/… $\endgroup$abrzozowski– abrzozowski2025-05-26 21:09:19 +00:00Commented May 26 at 21:09
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$\begingroup$ The link you sent is a repository for MoveIt1, but I'm using ROS2 and MoveIt2 $\endgroup$Crywolf– Crywolf2025-05-27 09:36:37 +00:00Commented May 27 at 9:36
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