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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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:
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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....
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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)
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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 ...
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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 ...
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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 ...
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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 ...
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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.
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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 ...
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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
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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 ...
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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 ...
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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?
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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 ...
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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 ...
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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 ...
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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 ...
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How is the motion calculated in freeform 3D tube bending?
I have seen 3D freeform tube bending in videos such as this, this, and this. I would like to ask how the motion of the bending orifice is calculated? Does it involve Jacobian?
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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\...
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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 ...
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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 ...
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How to sync motor speeds when doing path planning for a robotic arm?
I am trying to sync the speeds of all motors in a 5 axis robotic arm.
By sync I mean determining the speed for each movement so that all axes finish their movement at the same time.
The problem I am ...
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Minimize Waypoints Why Still Maintaining Distance From Objects for Motion Planning?
I'm working on a project where I want to give instruction to blindfolded participants on how to walk around an obstacle course. I'll map out my room and convert it to a grid map. However, given that I ...
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Choose the structure of the dynamic model for the generalized equations of motion of the robot
I ask the robotics specialists for help as I am a little confused.
I have two subsystems which are shown in the picture below:
One of them is a system of stable and controlled differential equations ...
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Dynamically-stable Motion Planning for Humanoid Robots
I was reading the classical robotics paper Dynamically-stable Motion Planning for Humanoid Robots and I don't understand why the two trees are swapped in line 7 of figure 5 (page 11). Seems like an ...
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A* as a planning algorithm
Researchers refer to A* as the planning method but: how does A* work as a path planning algorithm, instead of a graph search method?
And how does it compare to RRT?
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Drive unicycle kinematics equations through the geometry
The unicycle dynamics in discrete-time is given by:
$$
\begin{array}{l}
{x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \cos ({\theta _{k + 1}})\\
{x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \sin (...
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Pure Pursuit controller slow response for long look ahead
The pure pursuit calculates the steering angle based on that equation:
$$\delta = \tan^{-1}\left(\frac{2L\cdot \sin(\alpha)}{ld}\right)$$
Where $L$ is the wheelbase, $\alpha$ is the target angle, and $...
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Motion planning algorithms with applications beyond robotics in animation
I am reading the introduction (chapter 1) of Principles of Robot Motion Theory, Algorithms, and Implementations by Choset et al. and they mention that some of the work in robotics has been applied to ...
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Proper implementation of `pure_pursuit` for ground robots using waypoints
I am trying to understand and implement pure-pursuit waypoint following in 2D map. My questions are:
1. What exactly do I need to record in my waypoint.csv file?
To ...
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Where do I start learning from for motion planning underactuated robotics?
I am an undergraduate student approaching my final year. I have a final year project which involves planning a trajectory for an underactuated robot that also avoids obstacles.
So far I have come up ...
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unable to integrate local planner plugin into move_base
I am trying to integrate my local path planner plugin into move_base. On launching the modified ...
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