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Published 20 hours ago • verified publisher icon ros-planning

Fix Cartesian interpolation

Open rhaschke opened this issue 2 years ago • 0 comments

This fixes #359. There were actually two major issues:

  1. #304 broke Cartesian interpolation, wrongly calculating the target frame when rotations were involved (see videos below, were the endeffector should move and rotate about the green axis)
  2. MoveIt itself didn't yet support Cartesian interpolation for non-link frames. To fix this, I filed https://github.com/ros-planning/moveit/pull/3197.

old:

https://user-images.githubusercontent.com/5376030/187067390-dd6e7af7-80e9-4b2a-8623-e3b844185e89.mp4

new:

https://user-images.githubusercontent.com/5376030/187067403-528cd575-678a-44ef-8570-5c437a8e4520.mp4

rhaschke avatar Aug 28 '22 09:08 rhaschke