How to implement a basic manipulator motion planning algorithm, such as PRM, step by step under the ROS Kinetic version
Hello everyone. I just learning ROS, i am in ubuntu 16.04 system and ROS kinetic version. I want to implement a motion planning algorithm step by step, but ROS integrate OMPL library, and encapsulate the implementation details. i hope to manually complete the whole process, including: building robot configuration space graph, collision checking finds barrier-free paths and completing robot motion control in rviz and gazebo. Thanks for any help!
I'm not sure anyone here is going to give you step by steps to do this, this is a big undertaking you've asked for and its not really our jobs to make your project work. If you have specific questions about things you've tried or fixed scope ROS questions, we're more than happy to help.
Thanks a lot! t seems i think it too simple, but i am still confused, because i have saw many paper test and verify their motion planning algorithm in ROS, and my major is motion planning, so i want to kown how they did it, and a small example is very helpful to understand the whole process.
oh, maybe i should ask how to verify a custom algorithm about motion planning in ROS, it doesn't need step by step, just verify the algorithm from some paper, do you have any idea?