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https://pypi./pypi/moveit http://moveit./robots/ cartesian path 规划失败原因 Correct, f<1 means that it fails to compute the trajectory. There could be different reasons why it fails, it could be that one of the suggested pose is not possible for the robot to do, also the pose could be outside its work space, maybe a possible collision or that the kinematics fails to calculate the inverse kinematics for that pose. I would recommend the following: 1. Try to do a trajectory that you know a priori that it is doable by your robot. 2. Turn on the debugger option when you launch you launch file. What kinematic solver are you using? I had problems doing cartesians when using the KDL solver, so that is why I opted to do an analytical one. （1）无效的pose （2）pose在工作空间之外 （3）有碰撞 （4）IK计算有误 |
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