I have an ABB IRB 1200 robotic arm that I'm controlling with MoveIt in ROS Noetic.

Using move_group.set_pose_target(pose), I'm getting weird inefficient motions sometimes. Using move_group.set_joint_value_target(pose,True), I'm NOT getting weird motions.

However, obstacle avoidance is only supported using set_pose_target(), because it plans in cartesian space.

How can I get the best of both worlds, ie. efficient motions and obstacle avoidance?

I tried:

• increasing planning attempts: move_group.set_num_planning_attempts(20)
  • didnt work
• increase tollerance: move_group.set_goal_tolerance(0.01)
  • weird motions occurred less often.

I'm using the Trac solver:

• kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
• kinematics_solver_search_resolution: 0.005
• kinematics_solver_timeout: 0.005
• solve_type: Distance

And BiTRRT for path planning: manipulator:

• default_planner_config: BiTRRT
  • planner_configs:
    • BiTRRT
    • etc
• projection_evaluator: joints(joint_1,joint_2) -
• longest_valid_segment_fraction: 0.005

planner_configs:

• BiTRRT:
  • type: geometric::BiTRRT
  • range: 0.0 #
  • temp_change_factor: 0.1
  • init_temperature: 100
  • frountier_threshold: 0.0
  • frountier_node_ratio: 0.1
  • cost_threshold: 1e300