How to change velocity & acceleration in MotionPlanRequest topic

Question

With the newest version of MoveIt! (Indigo 0.7.6), we can nicely scale the velocity and acceleration of trajectory on MoveIt! RViz plugin. Looking at the Time Parameterization tutorial changing them programmatically during runtime seems also possible by changing MotionPlanRequest.msg, but how exactly can we do so?

Now I'm trying to see using NEXTAGE but I don't see that type of topic being published while MoveIt! is running.

Related question by @robotfan

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Originally posted by 130s on ROS Answers with karma: 10937 on 2017-01-04

Post score: 1

Answer 1

It depends on what interface you are using to make the planning request. If you are making the service call yourself, it is trivial to set the max_velocity_scaling_factor and max_acceleration_scaling_factor manually.

When using the the move_group C++ API, you have a function for the velocity and for the acceleration. These updates factors will then be used for the next planning request.

the moveit_commander move_group interface also has these functions (velocity and acceleration)

Setting the acceleration is quite recent for moveit_commander but I'm pretty sure it is in 0.7.6.

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Originally posted by rbbg with karma: 1823 on 2017-01-05

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by 130s on 2017-02-24:
Thanks. set_max_acceleration_scaling_factor is still missing from Indigo, so I opened a PR for it.

Answer 2

The move_group node advertises a "/plan_kinematic_path" service which takes in moveit_msgs/GetMotionPlan service request. You just need to populate the request message with you plan details (including velocity and acceleration scaling) and call the service. There are some useful utility functions that can be used to populate the MotionPlanRequest.msg fields.

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Originally posted by jrgnicho with karma: 486 on 2017-01-06

This answer was NOT ACCEPTED on the original site

Post score: 2