How to use Tesseract_planning to plan a mobile manipulator with 9 degrees of freedom？

[Jm20010201]

I tried to modify the example basic_cartesian_example, but I encountered the following problem

Do you know how to set it up? I tried to use the ompl library but it takes about 12 seconds to plan. Is there any good way? Thank you very much！！！

[Levi-Armstrong]

Yes it is very much possible, but it will require some setup. Is the intent to do point-to-point or are you wanting to use all degrees of freedom to have the tool center point follow a cartesian path?

[Jm20010201]

Yes it is very much possible, but it will require some setup. Is the intent to do point-to-point or are you wanting to use all degrees of freedom to have the tool center point follow a cartesian path?

I want to eventually move the end of the robotic arm to a certain point, say a point in Cartesian space given the end effector. This involves planning the mobile base and the arm. Can this planning library only specify the points of the end effector of the manipulator? Or the final state of the 9 degrees of freedom of the mobile manipulator must be determined. How should I set it up? Thank you！！！

[Levi-Armstrong]

It can plan for just the base, just the manipulator or base and manipulator. This is configured by how you define the manipulators in the srdf. Then you use this name to indicate what manipulator group you trying to plan with. I would recommend starting with the freespace example and provide final joint pose then progress from there. If you plan to use a cartesian point as the goal you will need to define a more efficient IK sovler for your system. You should be able to use the robot on a positioner IK solver for this application.

[Jm20010201]

It can plan for just the base, just the manipulator or base and manipulator. This is configured by how you define the manipulators in the srdf. Then you use this name to indicate what manipulator group you trying to plan with. I would recommend starting with the freespace example and provide final joint pose then progress from there. If you plan to use a cartesian point as the goal you will need to define a more efficient IK sovler for your system. You should be able to use the robot on a positioner IK solver for this application.

Thank you so much， There are nine degrees of freedom in my manipulator group including three for the base and six for the manipulator. I tried planning in the basic_cartesian_example, but the problem in the picture above occurred. (tried to get ik solver for a group 'manipulator' that does not exist ). If I want to plan in Cartesian space, do I need to give the coordinates of the end base, or can I plan the trajectory of the whole body only with the coordinates of the end effector?