Is it possible to get Moveit2/OMPL to output *just* the end goal, rather than the full trajectory required for joint_trajectory_controller?
2025.01.20 23:10 TheProffalken Is it possible to get Moveit2/OMPL to output *just* the end goal, rather than the full trajectory required for joint_trajectory_controller?
Hey all,
Those of you who have been following my journey will know that I'm dangerously close to getting a working robot arm!
I've worked out what the issue was between the hardware interface (a Woodpecker CNC board running gRBL) and my controller, and I've now got the controller writing GCode to the gRBL board over USB.
The issue I've got is that the CNC board expects the destination, not every step on the journey, so I'm wondering if there's a way to tell the Joint Trajectory Controller or Moveit2 to only output the distance that the joint needs to travel (degrees, radians, mm, doesn't really matter!) rather than it sending every single step to the controller?
As an example, if I'm currently at position x: 0 y: 0 z:0 and I want to move to x: 5 y: 10 z:-3 then when I press "plan & execute" in Moveit2, the only message that should be sent to the controller is x: 5 y: 10 z:-3, not
x: 1 y: 1 z:-1 x: 2 y: 2 z:-2 x: 3 y: 3 z:-3 x: 4 y: 4 z:0 // Don't move Z because it's now at the right location x: 5 y: 5 z:0 // Don't move X because it's now at the right location x: 0 y: 6 z:0 x: 0 y: 7 z:0 x: 0 y: 8 z:0 x: 0 y: 9 z:0 x: 0 y: 10 z:0
I hope that makes sense?
Just like a 3D printer or CNC machine, the GCode states where to move to and the CNC controller works out how to get there.
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