asked 2012-02-07 14:07:12 -0500Procópio Silveira Stein
Hi there, I wanted to create motion plans for my robot base (and not for an arm) using OMPL (more specifically RRT). I have found the ompl_planner_base package, but I get an error from svn:
https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/sandbox/ompl_planner_base' doesn't exist
Is there any tweak to use the arm_navigation stack to provide plans for a robot base (ideally integrated with the navigation stack)?
answered 2012-02-07 23:58:29 -0500prince
This link [http://answers.ros.org/question/587/sampling-based-planning-methods-for-2d-navigation] may be of help.
From what you describe, the SBPL lattice planner is what you´re looking for. Note that in general, it´s not easily possible to use a arm_navigation planner for motion planning for a mobile base (or vice versa).
Asked: 2012-02-07 14:07:12 -0500
Seen: 221 times
Last updated: Feb 07 '12