Status of Paths in Ruckig?

[pantor]

Status of Paths in Ruckig?

[pantor]

Hi @gavanderhoorn, I haven't worked on it any further and won't get around to it in the next few months. But I definitely keep your interest in mind and will ping you if there are any news.

[gavanderhoorn]

Ok, thanks.

Not sure whether you need any motivation, but path support would make Ruckig perfect to use with something like tesseract and MoveIt.

I haven't worked on it any further

could you perhaps describe what is missing, or not working right now?

Is it just bit-rot wrt current HEAD?

[pantor]

Oh, I think you're overestimating that branch 😉 The only part that is implemented is the path generation, but the complete time-parametrization is missing. And as this is the hard part, it really requires a lot of work (and research). Moreover, the algorithms of waypoint- and path-based OTG would differ significantly, so I'm not sure how much I could benefit from waypoint-based Ruckig. Don't have too high hopes - that branch will be research for a long time 😆

Besides this issue, If there is anything I can do to help integrating Ruckig into MoveIt or tesseract, I would be happy to help.