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Published 20 hours ago • verified publisher icon ros-planning

orientation constraints cannot work properly

Open Dingran12 opened this issue 1 year ago • 0 comments

Hello, I want to use the orientation constraints with this MTC, it works well with Moveit+ ROS melodic+Ubuntu 18.04. But with Moveit2+ ROS Humble+ Ubuntu 22.04, it planned for a long time, even planned failed sometimes. We have tried these several cases:

  1. demo your provided (panda robot)------------works well
  2. panda robot + orientation constraints applied for the connect stage--------------planned for a long time
  3. our own Nachi robot mz07L(with ik_fast solver ) ----------works well
  4. our own Nachi robot mz07L(with ik_fast solver )+ orientation constraints applied for the connect stage/moveto stage -----------planned for a long time or failed. image image

Dingran12 avatar Nov 14 '23 06:11 Dingran12