Motion planning
Work in progress
A detailed description of motion planning is being prepared.
LWC uses MoveIt 2, the standard motion-planning framework for ROS 2.
Key concepts
- Planning group (
iiwa_arm) — the set of joints for which a plan is generated. Defined in SRDF. - Planner — the trajectory-generation algorithm. Available planners:
ompl— general-purpose probabilistic planner (default)pilz_industrial_motion_planner— deterministic PTP, LIN, and CIRC trajectories- TCP (Tool Center Point) — the tool point for which the target pose is specified. Set in
cobot-setting.yaml→planning.pose_link. - Reference frame — the coordinate system for targets. Default:
base_link.
cobot-setting.yaml settings
| Parameter | Description |
|---|---|
planning.default_planner |
Default planner: ompl or pilz_industrial_motion_planner |
planning.planning_attempts |
Number of attempts after a planning failure |
planning.pose_link |
TCP link for Cartesian targets |