-
Notifications
You must be signed in to change notification settings - Fork 150
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
ompl planer in MTC fails to execute. #578
Comments
According to the error message, the controller complains about non-increasing time between waypoints 0 and 1. |
Hi, thanks for response. I know it's because of problem with ompl timings, but this problem for me is exclusive for MTC. |
I don't think this is OMPL-related. Only the time parameterization is failing. |
@LordAbraham I had a very similar issue and I am not sure if it s relevant to you, but when you create your ros node make sure to override parameters from defaults rclcpp::NodeOptions options;
options.automatically_declare_parameters_from_overrides(true); //Not having this caused my planner to give zero time to all trajectory points - so cartesian planners work but OMPL plannners do not.
std::shared_ptr<CustomMtcPipeline> mtc_node = std::make_shared<CustomMtcPipeline>(options); |
Hi,
I have weird problem in MTC ROS2 Humble branch.
Problem is created only while executing ompl path, on pilz everything works as it should.
I tried setting TimeOptimalTrajectoryGeneration manually in properties of planer to match my moveits config.
In rviz and by moveit api ompl works fine, problem is only in MTC.
my code:
While executing plan i get this error:
The text was updated successfully, but these errors were encountered: