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When using ROS Noetic (ROS2 answer great though too) with the Pilz industrial planner, I noticed that the plan output trajectory has 100ms between samples. I searched the web (and the source-code) but couldn't figure out where this 100ms comes from. Is there a parameter to adjust it or is it hard-coded somewhere?

I didn't see a parameter for the other planners (CHOMP, STOMP, ...) either. I get that post-processing can "fill-in" these trajectories, but I'm curious how to increase the planner output density instead.

The pilz source-code has a "plan(...)" function that takes a sampling rate, which seems to be called by a "generate(...)" function which also takes a sampling rate, but I couldn't figure out what calls the "generate(...)" function.

Extra tags: frequency, duration, sampling rate, sample rate, hz, publish rate,

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  • $\begingroup$ Hi! Have you had a look at the parameter server to see if you can find anything related to the sampling time of the planner? Just a hint, as I am not very experienced with trajectory planners... $\endgroup$
    – Luca
    1 hour ago

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