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I am using default IK planner (KDLplugin) for planning the path for ABB_IRB4600 robot using moveIt RViz plugin. When i import an object and make the robot movement to avoid that object by publishing current scene in RViz . The movements of the robot becomes very weired. Is there a way to refine the movements of the robot during collision avoidance of the object in the planning scene. I tried to incease the planning attempts and the planning time but haven't acheived any good result.


Originally posted by Muneeb on ROS Answers with karma: 31 on 2017-05-23

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In the RViz Motion Planning panel, under the Context tab, try picking a different OMPL algorithm. I find that RRTConnectkConfigDefault works well out of the box.


Originally posted by BrettHemes with karma: 525 on 2017-05-23

This answer was ACCEPTED on the original site

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Original comments

Comment by Muneeb on 2017-06-01:
RRTConnectkConfigDefault looks good. thanks but still movements of the robot are not so refined as i want to have. It should go around the obstacle but it moves a bit far from the obstacle. any suggestion how to get linear movements around the obstacle

Comment by v4hn on 2017-06-07:
You could also have a look at ROS-I's stomp implementation: https://github.com/ros-industrial/industrial_moveit . This uses a whole different planning approach and should yield "nicer" trajectories.

Comment by Muneeb on 2017-06-09:
I switched to stomp planner. The trajectories are really nice when i plan and execute using RVIZ plugin even around the obstacle. but now i am having problem with sending pose values since i think its only works with joint values.

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