5.Cartesian Path

1. Introduction

The Cartesian coordinate system is the collective name for the Cartesian coordinate system and the oblique coordinate system. A Cartesian path is actually a line connecting any two points in space.

2. Start

Start up MoveIT

roslaunch dofbot_config demo.launch

Start Cartesian path code

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rosrun dofbot_moveit 04_cartesian 

• C++ code examples

To view the trajectory, you need to add the [MarkerArray] plug-in and select the [/rviz_visual_tools] topic.

3. C++ code file

Set a specific location

x
    ROS_INFO("Set Init Pose.");
    //Set specific location
    vector<double> pose{0, -0.69, -0.17, 0.86, 0};
    yahboomcar.setJointValueTarget(pose);

Add waypoint

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    //Initialize path point vector
    std::vector<geometry_msgs::Pose> waypoints;
    //Add initial pose to waypoint list
    waypoints.push_back(start_pose);
    start_pose.position.x -= 0.04;
    waypoints.push_back(start_pose);
    start_pose.position.z -= 0.02;
    waypoints.push_back(start_pose);
    start_pose.position.x += 0.04;
    waypoints.push_back(start_pose);
    start_pose.position.z -= 0.02;
    waypoints.push_back(start_pose);
    start_pose.position.x += 0.03;
    waypoints.push_back(start_pose);

Waypoint planning

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fraction = yahboomcar.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);