I am trying to get sequences of multiple moves working with the za6. After getting the individual moves working well, I have switched to using the exact same constraints and planners but with the sequence_move_group action instead of move_group. I am hoping to speed up my overall process, so I want the arm to pass through or close to my waypoints quickly without coming to a full stop if possible. I am using the pilz PTP planner. As mentioned on the moveit website, if I understand correctly, the blend radius parameter is supposed to allow me to set a radius that blends the two sequences together. However, if I set the blend radius to anything other than 0, then the arm moves correctly to the first waypoint, but then encounters some error and moves very slowly, sometimes jerking violently to get to the end position. Occasionally, the move executes correctly, but most times, the abrupt moves happen after reaching the first waypoint.
Is anyone else having issues with this? I am unsure whether this is an issue specifically related to tormach’s custom version of moveit, my configuration, or moveit in general. I am still analyzing the trajectory and the output messages from the nodes