Trajopt Configuration

[emfebert]

Hi,

Has anyone successfully set up TrajOpt for Xarm?

Thanks a lot!

[penglongxiang]

Hi, there seems to be no official tutorials and active maintenance for TrajOpt / Moveit integration setup and development, and we would also not provide detailed support for it. However, here are just some hints from our limited experience:

1. clone trajopt repo to your workspace, I checked out the 0.5.2 tag version since there were path changes after 0.6.0.
2. Since there is no direct support of trajopt planner in binary version of Moveit, you have to compile Moveit from source (in the same workspace) and enable the compilation of trajopt planner and solver. The way to enable is to delete the CATKIN_IGNORE file under the path moveit/moveit_planners/trajopt/.
3. With the above source code ready in your workspace, you can do the compilation and manually fix some compilation errors (from trajopt packages in my experience) during the process.
4. About the usage of TrajOpt planner inside Moveit, you may refer to other open-source repo (like panda_moveit_config) which has the demo scripts for trajopt. Modify your project with similar configurations and tune the parameters accordingly.