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Add vel and acc scaling to computeCartesianPath in Humble #3051

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Add vel and acc scaling to computeCartesianPath in Humble #3051

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748ad68
Update move_group_interface.cpp
liamcarlos Oct 30, 2024
057502c
Update cartesian_path_service_capability.cpp
liamcarlos Oct 30, 2024
bc6b6a1
Merge branch 'humble' into humble
sjahr Oct 31, 2024
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2 changes: 1 addition & 1 deletion moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.cpp
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Expand Up @@ -177,7 +177,7 @@ bool MoveGroupCartesianPathService::computeService(
// time trajectory
// \todo optionally compute timing to move the eef with constant speed
trajectory_processing::TimeOptimalTrajectoryGeneration time_param;
time_param.computeTimeStamps(rt, 1.0);
time_param.computeTimeStamps(rt, req->max_velocity_scaling_factor, req->max_acceleration_scaling_factor);

rt.getRobotTrajectoryMsg(res->solution);
RCLCPP_INFO(LOGGER, "Computed Cartesian path with %u points (followed %lf%% of requested trajectory)",
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2 changes: 2 additions & 0 deletions moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
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Expand Up @@ -969,6 +969,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
req->path_constraints = path_constraints;
req->avoid_collisions = avoid_collisions;
req->link_name = getEndEffectorLink();
req->max_velocity_scaling_factor = max_velocity_scaling_factor_;
req->max_acceleration_scaling_factor = max_acceleration_scaling_factor_;

auto future_response = cartesian_path_service_->async_send_request(req);
if (future_response.valid())
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