tud-cor/moveit_totg_planning_adapter

MoveIt planning adapter wrapping the Time-Optimal Trajectory Generation for Path Following with Bounded Acceleration and Velocity algorithm by Tobias Kunz and Mike Stilman

moveit_totg_planning_adapter's Issues

hard coded constants

There are a nr of hard coded constants (in the current implementation of the adapter) that influence the way TOTG will process the incoming trajectory and generate velocities and accelerations for it.

At the very least those should be turned into ROS parameters, so they can be changed without having to recompile anything.

Constants / magic nrs to consider:

• default acceleration limit (a_max)
• default velocity limit (v_max)
• timestep (0.001)
• the value for maxDeviation in the Path ctor (0.1)
• value used for subsampling of the TOTG Trajectory result (0.025)

Is TOTG planning adapter for only joint velocities and joint-accelration constraints?

I need to constraint tool velocity of the robot to get a trapezoidal velocity for the manipulator. Can I use for Cartesian velocity and Cartesian acceleration constraints?