This is just a discussion of if and how to integrate real-time motion planners in MoveIt!
Currently the jog_arm package does this with a Jacobian-based jogger – it subscribes to joystick commands or force feedback commands to calculate a trajectory. I’m OK keeping this as a separate package but there are lots of advantages to moving under the MoveIt! umbrella, I think.
Of course, it’s also worth considering how future real-time planners might fit in…
Pros of the real-time Jacobian planner, in comparison to the current MoveIt! planners:
- Determinism (if starting from the same pose, with the same target, its motion will be repeatable)
- ~0 planning time
- No reconfigurations, i.e. sudden, wild swings of the arm
- The trajectory can be altered in real-time
Drawbacks of the Jacobian planner:
- Trajectories can’t be previewed in RViz
- The planner takes a straight line – it doesn’t know how to plan around obstacles, singularities, or joint limits
- This Jacobian technique is generally only useful over short distances.