base motion planner with OMPL

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asked 2012-02-07 14:07:12 -0500

548 ● 9 ● 14 ● 22
http://lars.mec.ua.pt/pub...

updated 2012-02-07 14:14:01 -0500

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)?

thanks

Accepted Answer

1

answered 2012-02-07 23:58:29 -0500

prince

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This link [http://answers.ros.org/question/587/sampling-based-planning-methods-for-2d-navigation] may be of help.

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Thanks. Actually it is exactly what I wanted, but the repository from ompl_planner_base is not working: "404 not found" Procópio Silveira Stein ( 2012-02-08 01:43:26 -0500 )edit

according to https://code.ros.org/trac/wg-ros-pkg/changeset/50709 the repository has changed to https://code.ros.org/svn/wg-ros-pkg/branches/trunk_dturtle/sandbox/ompl_planner_base/ I will update the wiki Procópio Silveira Stein ( 2012-02-08 01:55:29 -0500 )edit

Answer 2

1

answered 2012-02-07 14:46:02 -0500

Stefan Kohlbrecher

6958 ● 63 ● 113 ● 177
http://www.sim.tu-darmsta...

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).

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it is not exactly what I wanted, but it is worth taking a look. thanks. Procópio Silveira Stein ( 2012-02-09 06:40:39 -0500 )edit

Actually, the planners used in the arm_navigation stack (sampling-based) are not specific to arm planning. You can use them just fine for base planning. However, they are likely not going to be as fast as an A*-type planner, and won't give you optimality guarantees.

isucan ( 2012-03-29 02:47:25 -0500 )edit

base motion planner with OMPL

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