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Simultaneous trajectory execution #733

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@cambel cambel commented Oct 18, 2022

Description

Updating the tutorial controller_configuration according to the changes introduced in moveit/moveit#3243 .

Adding a tutorial for the feature proposed in moveit/moveit#3243

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welcome bot commented Oct 18, 2022

Thanks for helping in improving MoveIt and open source robotics!


Introduction
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MoveIt now allows simultaneous execution of trajectories, as long as, each trajectory uses a different set of controllers. For example, in a dual arm environment, each arm can execute a different set of trajectories without needing to wait for the other arm to finish moving or manually synchronizing the motion of both arm into a single trajectory. Optionally, a collision check is performed right before execution of new trajectories to prevent collisions with active trajectories.
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Suggested change
MoveIt now allows simultaneous execution of trajectories, as long as, each trajectory uses a different set of controllers. For example, in a dual arm environment, each arm can execute a different set of trajectories without needing to wait for the other arm to finish moving or manually synchronizing the motion of both arm into a single trajectory. Optionally, a collision check is performed right before execution of new trajectories to prevent collisions with active trajectories.
MoveIt allows simultaneous execution of trajectories, as long as each trajectory uses a different set of controllers. For example, in a dual arm environment, each arm can execute a different set of trajectories without needing to wait for the other arm to finish moving or manually synchronizing the motion of both arm into a single trajectory. Optionally, a collision check is performed right before execution of new trajectories to prevent collisions with active trajectories.


The following GIF shows simple example of simultaneous execution of trajectories through the **Rviz Motion Planning** plugin.

.. only:: html
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why is that needed?

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It is a very quick way to try the simultaneous feature from Rviz.

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I was refering to the .. only:: html only

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Oh, that. I guess it is not necessary, I just copy-paste it from somewhere.

Setup
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The simultaneous trajectory execution feature can be enabled or disabled through the dynamic reconfigure parameter **/move_group/trajectory_execution/enable_simultaneous_execution**.
Optionally, an extra layer of collision checking, done right before execution of trajectories, can be enabled through the dynamic reconfigure parameter **/move_group/trajectory_execution/enable_collision_checking**.
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Both parameters are on by default, here it sounds like they are both off by default

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Right, I change the explanation to make it clear that it is on by default, but it is configurable.

@cambel cambel force-pushed the master branch 3 times, most recently from 6e42681 to dec7a70 Compare November 2, 2022 00:31
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2 participants