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Questions tagged [motion-planning]

Motion planning (also known as the navigation problem or the piano mover's problem) is a term used in robotics for the process of breaking down a desired movement task into discrete motions that satisfy movement constraints and possibly optimize some aspect of the movement.

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Bias Omni Navigation Towards Forward Movement

I am working on an omnidirectional robot using ROS2 and NAV2 BT navigator stack. I have managed to get the lattice planner working and have full omni directional movement. I was wondering if there was ...
Sebastian Pelletier's user avatar
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Collision Update on a Manipulator Links

I am trying to apply a pick-and-place operation with the Fanuc 6 DOF robot. I am using Moveit2 to give motion planning commands to robot. It sometimes gets into limit error during the execution of ...
Oben Sustam's user avatar
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Persistent "Goal State is in Collision" Error Despite Disabling Collisions

I am working with the MoveIt Task Constructor to set up a robotic task sequence and am encountering a persistent collision detection issue despite explicitly disabling collisions for certain links. I ...
Ammar's user avatar
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Lateral control for autonomous vehicles ( steering angle problem)

I am working on a control system for autonomous vehicles, i am using a kinematic bicycle model simulated on matlab simulink and the formula i used for the steering angle is given in the figures below ...
Asmaa GZ's user avatar
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How to plan CIRC motions with Pilz Industrial Motion Planner using arbitrary reference coordinate systems?

Tl;dr: I want to rotate the link at the end of the planning group around the X-axis of the center point in clockwise direction by theta degrees. How would I do that? I want to plan industrial motions (...
NotARobot's user avatar
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Why is the C- Space topology for a 2R robot a torus?

Currently doing a course on robotics - skip to 1:12 in the video below where Kevin Lynch describes the C-Space topology of a 2R robot to be a torus. Why did he rotate the circle for joint 1 to be ...
Stockfish's user avatar
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Rigorous terminology clarification - Path Planning, Path Following, Trajectory Planning, Trajectory Following and Motion Planning

I am asking this after having gone through quite a bit of literature and hope that it's not a repeat question. I would like to know proper mathematical notion that clearly defines a Path and a ...
Manish's user avatar
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Integrating Alternative Local Planners (Controller) with ROS 2 Navigation2 Stack for an Ackermann Robot

I'm working on a project with ROS 2 Iron and the Navigation2 stack, focusing on an Ackermann-steered robot. I've encountered issues while trying to integrate alternative local planners, such as TEB, ...
Marcus Vinicius's user avatar
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Creating a new planner in OMPL using Python

I am using OMPL in order to create a new planner using OMPL. The documentation gives only a short description of how to do so: ...
Sadiq's user avatar
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IK numerical vs analytical solutions and singularities

Currently I'm using the Robotics-Toolbox python library by Peter Corke to perform inverse kinematics calculations for a 6 DOF (non-spherical wrist) robot arm. I'm using the robotics-toolbox ctraj ...
MAP3's user avatar
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moveit2 not planning: Unable to sample any valid states for goal tree

I am relatively new to ros and moveit. I am working in humble on an m1 mac but using a vm to run ubuntu jammy. I've followed the moveit tutorials and successfully got the panda arm moving to a ...
tuna_pasta's user avatar
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Unreachable Velocity in Jerk Limited Trajectory

I've recently been developing a jerk limited trajectory algorithm. I've gone through all the analytical solutions for every profile to find the time optimal solution, and then quantized to the nearest ...
2610man's user avatar
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ROS: Execute action for every waypoint along moveit path

A robot should move along waypoints and operate on a state in parallel, say print a state for every waypoint. Given: ...
Florian Schneider's user avatar
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Real robot ur5 is not moving with moveit

I am connected to a UR5 over the network, working on ROS2 humble, on Ubuntu 22.04 I set up the right host IP on the robot and robot’s IP in the launch file I installed the external control urcap. I ...
Darshi Dwivedi's user avatar
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Cartesian Planning Issue

I recently performed camera and robot-robot calibration and, I wanted to validate the results with the touch test method. So I retrieved a particular point on the ChArUco board and wrote a node that ...
sam-opt's user avatar
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Example for using ROS2 Moveit2's asyncExecute()

I would like to use the asyncExecute() function offered by Moveit2 CPP API (ROS2 Humble), and then monitor the status of execution. I searched for a bit and only ...
Tejas Kumar's user avatar
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What is the preferred approach to derive the kinematics/dynamics of a floating base 3-link robot?

I would like to derive the kinematics and dynamics of a floating planar robot with two leg links and a hip link while the robot is in free-fall (i.e. no ground contact at the "feet"). This ...
Molecular Lionel's user avatar
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Workaround for error in RVIZ with a position only robot arm

I am receiving an error in RVIZ when I tell the moveit planner to plan a path for my robot arm to a new random position. The error is related to velocity limits. My robot arm implements a position ...
Jeffrey Edward Messikian's user avatar
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Moveit constraint to look at a point

Using Moveit under ROS2 (humble), I am trying to have a robot manipulator point the end-effector (technically a camera attached to it) at a point in space. With the different options for constrained ...
Xilef11's user avatar
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End effector velocity control of a 6-DOF robotic manipulator using MPC

I've been trying to utilize Model Predictive Control (MPC) scheme that I have for end-effector position reference $x(t)$ tracking control to build end-effector velocity reference $\dot{x}(t)$ tracking....
HOJUN LEE's user avatar
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For my 6-axis robot, goal pose accuracy +/- 0.3 degrees with any OMPL planner. How to reach at least 0.01 degrees or better?

I'm very disappointed about MoveIt planning accuracy and hope you can help me with some useful advices. Some tech. intro: Ubuntu 22.04.3 LTS ROS2 Rolling Gazebo Classic MoveIT2 (installed from source) ...
Kirill Partala's user avatar
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Pose matrices and robotics 2D movement

I have a robot starting from the origin. It first turns 90 degrees (yaw), then move to (5,10), then it starts to move along its own negative x direction at each step with a translation of 1. Here is ...
Nick X Tsui's user avatar
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Can I avoid leaking memory when calling `plan_sequence_path`?

Context: I am planning motions for a six-axis robot arm moving a tool along a toolpath. I am working in ROS1 Noetic, calling Pilz Industrial Motion Planner's PTP planner through MoveIt's ...
rr-mark's user avatar
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Post-Processing and Execution of Paths from Sampling-Based Planning: Refinement, Shortcutting, and Real-World Dynamics

I've been diving into sampling-based approaches for path planning, such as RRT (Rapidly-exploring Random Trees) and PRM (Probabilistic Roadmaps), along with their extensions. While I understand the ...
TechEnthusiast's user avatar
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Create path constraints and dump as a .sqlite file in MoveIt

I am trying to define path constraints in the "MotionPlanning" window on Moveit using RViz in ROS Iron. Using panda_test_db.sqlite, I connected to the database successfully. I could see the ...
ravi's user avatar
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Trajectory waypoints are not exactly the same as joint positions. How to find the closest waypoint?

I'm trying to implement a function to pause the execution of a trajectory, and then re-plan a trajectory following the remaining path. The framework I'm using is moveit noetic. ...
L.Towson's user avatar
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3 answers
117 views

Motion planning for non-serial chain robotic arms

I am trying to do position motion planning with inverse kinematics for the MeArm model. I followed MoveIt tutorials and was able to achieve what I wanted with their provided robot example. However, I ...
Ezzat Esam's user avatar
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Theoretical foundation of the moveit_msgs::Constraints constructGoalConstraints function

I'm new to MoveIt and motion planning. I’m curious about the implementation of constructGoalConstraints function and check its source code ...
KKKmelody's user avatar
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1 answer
37 views

How to activate the planning with obstacles after publishing the planning scene moveit message

I'm following the tutorial of MoveIt to add obstacles to the scene. Everything goes well and I can see obstacles in Rviz. However, the planned path seems to ignore the presence of obstacles and go ...
KKKmelody's user avatar
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2 answers
69 views

How to approach a target pose via the XY surface normal?

I'm trying to make my panda approach an aruco marker target on the table. However, I also want as a constraint that it does so perpendicular to the target. Given that a pose has an orientation ...
clemfandango's user avatar
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Ros2 navigation not working properly

I am trying Ackerman drive with nav2. The robot follows the path correctly but global planner doesn't update the path and then the robot stops. Can anyone help me in solving this issue?
mohit's user avatar
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3 votes
2 answers
122 views

The 'stomp' configuration parameter was not found

I am trying to use STOMP Planner by following the documentation. As per the documentation, I installed the STOMP from the source in ROS Melodic (Ubuntu 18.04.6 LTS). Unfortunately, the command ...
ravi's user avatar
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1 vote
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How to avoid Cusps and Corners when generating spline?

Here I wrote Qubic spline trajectory generation. The following are the result. Spline that generated Curvature of the spline Yaw angle changes According to Figure 02, there is a sharp change in yaw ...
GPrathap's user avatar
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dual arm closed kinematic chain planning in Moveit

I would like to perform a dual-arm robot pick-and-place task, using Moveit to plan trajectories for both arms. e.g. dual arm carrying a large box from a start configuration to target configuration, ...
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To demonstrate motion planning of a Husky robot through dynamic environments using Gazebo, how can I introduce moving characters in Gazebo?

I am working on the ClearPath Husky ROS Navigation stack and am trying to demonstrate the motion of Husky through an environment with dynamic obstacles in Gazebo. I see that mostly such a ...
APPR's user avatar
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Holonomic Constraints

I'm currently reading the book "Principles of Robot Motion" by Choset and came across the following statement in Chapter 3 on Configuration Spaces, in a section where they discuss the ...
Harsh 's user avatar
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Recommendations for a robot for scanning in a 2D plane

I'm new to robots and struggling to find information (buy) and sources on what we're looking for (or what we are trying to accomplish) for an idea (proof of concept) we want to test. We really don't ...
PVTest's user avatar
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1 answer
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Turning a mecanum wheeled robot at a specific angle i.e 45 degree

I am implementing inverse kinematics for motion control of a robot with four mecanum wheels. However I am not getting how to turn it at specific heading angle(45 degree)? I am using encoders to check ...
Ha-Naa's user avatar
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2 votes
1 answer
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In Dynamic Motion Primitives, why we need to approximate f if f_target is given?

I seem to misunderstand something crucial regarding finding the force vector in the process of DMPs: The way I understand it, I should come up with a dataset of trajectories $\{y_i\}_{i=1}^n$, and ...
Hadar's user avatar
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3 answers
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Designing S-Curve velocity profile for given Distance

I'm trying to create a high-level API for controlling a drone, where I tell it how far I want it to go (eg. moveForward(10)). The SDK allows me to give the drone an ...
dkapur17's user avatar
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Mounting the ur5e robotic arm on a table

I am working on testing motion planning algorithms on a robotic arm. My arm collides with the ground while moving it from one point to another point. My solution to this problem is to mount the arm on ...
Kaushik Narayan's user avatar
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113 views

Multiple Stepper Synchronization with updating position control at specified speed

So I have build a 6-axis manipulator having all the degree of freedom. Currently I have used TeensyStep library for controlling synchronization of 6 stepper axis. Also I have tried AccelStepper ...
Harsh Dobariya's user avatar
1 vote
1 answer
58 views

Manually generate antipodal grasps for grasping

I am getting into robot manipulation using parallel grippers, and am learning about it, and programming grasping different objects. I have the 3D model of the objects I wish to grasp. The next step is ...
OlorinIstari's user avatar
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352 views

Mission planning vs path planning vs motion planning

I am struggling to understand the difference between mission planning, path planning, and motion planning. This answer on stack exchange clarified the difference between path planning and motion ...
Gabriele's user avatar
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1 answer
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Incorporating motion model in Graph Slam and Bundle adjustment

When doing global bundle adjustment how does one incorporate a motion model or IMU information? Does it simply impose a cost function in relation to how far away the expected location is of the robot ...
FourierFlux's user avatar
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How to do path planning using only a fixed number of points?

I have a vehicle with cameras to detect different colored cones. I want to generate a drivable path based on the location of the detected cones.The number of detected cones varies, as it depends on ...
user27771's user avatar
2 votes
1 answer
370 views

What is the consquence of Gimbal lock?

I'm learning about Gimbal lock and I understand the reason why that happened. But I don't understand why that is a big deal because it only affect this rotation. After this rotation finished, we have ...
Benasking7124's user avatar
2 votes
0 answers
69 views

Monocular SLAM position estimation

I have been reading about mono SLAM and I have a couple questions which are not so clear: When doing pose estimation, I have seen people both reference homography transformation and also reference 5\...
FourierFlux's user avatar
1 vote
1 answer
35 views

Defining the specifications required by a 6DOF robot to impose a harmonic sinusoidal motion

Perhaps a bit of a simple question, but since I don't have a background in robotics/engineering, then I imagine this would be the perfect place to ask such a question. I am buying a 6-DOF Stewart ...
Marc Schwambach's user avatar
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278 views

GPS + IMU data and kinematics equations

I have the following data Longitudinal acceleration, $a_x^{IMU}$ Lateral acceleration, $a_y^{IMU}$ Vertical acceleration, $a_z^{IMU}$ Yaw angle, $\psi$ Yaw rate, $\dot{\psi}$ Latitude, $\rightarrow ...
Madara's user avatar
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