{"action":"closed","issue":{"url":"https://api.github.com/repos/Zagitta/ur_modern_driver/issues/25","repository_url":"https://api.github.com/repos/Zagitta/ur_modern_driver","labels_url":"https://api.github.com/repos/Zagitta/ur_modern_driver/issues/25/labels{/name}","comments_url":"https://api.github.com/repos/Zagitta/ur_modern_driver/issues/25/comments","events_url":"https://api.github.com/repos/Zagitta/ur_modern_driver/issues/25/events","html_url":"https://github.com/Zagitta/ur_modern_driver/issues/25","id":338528168,"node_id":"MDU6SXNzdWUzMzg1MjgxNjg=","number":25,"title":"undesired interpolation while moving UR5 with MoveIt!","user":{"login":"enrico-g","id":36794824,"node_id":"MDQ6VXNlcjM2Nzk0ODI0","avatar_url":"https://avatars3.githubusercontent.com/u/36794824?v=4","gravatar_id":"","url":"https://api.github.com/users/enrico-g","html_url":"https://github.com/enrico-g","followers_url":"https://api.github.com/users/enrico-g/followers","following_url":"https://api.github.com/users/enrico-g/following{/other_user}","gists_url":"https://api.github.com/users/enrico-g/gists{/gist_id}","starred_url":"https://api.github.com/users/enrico-g/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/enrico-g/subscriptions","organizations_url":"https://api.github.com/users/enrico-g/orgs","repos_url":"https://api.github.com/users/enrico-g/repos","events_url":"https://api.github.com/users/enrico-g/events{/privacy}","received_events_url":"https://api.github.com/users/enrico-g/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2018-07-05T11:04:31Z","updated_at":"2018-08-27T09:52:43Z","closed_at":"2018-08-27T09:52:43Z","author_association":"NONE","body":"Hi all,\r\n\r\nI am trying to make my UR5 avoid simple fixed obstacles by moving it with Moveit, using the OMPL library.\r\nWhen i run \"ur5_ros_control.launch\" everything goes fine until i push \"plan\" & \"execute\".\r\nThe main problem is that the end-effector reaches the desired position but fails in executing the planned trajectory, because it tends to smooth it causing collisions with the obstacles.\r\nThe question is: how can I remove the interpolation function making my robot follow the actual trajectory (even if non-optimal)?\r\n\r\nI'm using ur_modern_driver (zagitta fork) on ros kinetic, ubuntu 16.04.\r\nThe list of commands to connect to real robot and open Rviz:\r\n\r\n    roslaunch ur_modern_driver ur5_ros_control.launch limited:=true robot_ip:=192.168.0.9\r\n\r\n    roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true\r\n\r\n    roslaunch ur5_moveit_config 2_moveit_rviz.launch db:=true config:=true\r\n\r\nIf necessary, I will paste here the code of \"ur5_ros_control.launch\" file.\r\nThanks in advance.\r\n"}}
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