I made a Moveit config package with the setup assistant (ROS2 Humble). To control the robot, I'm programming a script with pymoveit2, and I can give successful commands to the arm.
The problem I have is trying to plan a cartesian path, changing the parameter cartesian=True when calling pymoveit2.MoveIt2.move_to_pose:
- Some times, it works
- Other times, the path is not cartesian and it produces a very long movement for a path that should be only ~5cm long.
- When it produces the LONG strange path, it creates paths that collide with the body of the robot (links included in the URDF but not in the planning group).
The default configuration that I created with setup_assistant doesn't have any of the *_planning.yaml files, or the details of the planning pipeline. So I'm not completely sure of all the settings. I believe that the default pipeline uses ompl, pilz, and chomp.
Additionally, I tried to set up moveit_servo, but no matter which command I send, the end effector always moves in the same direction.
Any recommendations on how to debug the model? Sending commands to OMPL through the rviz interface works well, and marking the checkbox "Use cartesin path" in rviz works well for short movements.
Thanks