moveit! motion planning reuse

I'm using moveit!'s default RRTConnectkConfigDefault motion planner to control an arm. Is there any way of reusing the tree that the RTT algorithm creates, so that I can plan multiple motions using the same tree rather than recalculating the tree for each motion? if that's not possible, is there any planner in moveit that allows for this functionality?

Asked by martinakos on 2019-07-17 05:13:54 UTC

Comments

Good day, I found this Issue (Nr. 1026) on Github. To me, it seems that this functionality is not yet implemented in moveit. If you find a solution, it might be a good idea to also reference this in the issue on github.

Asked by cpetersmeier on 2019-07-17 06:49:36 UTC

thanks! I'll keep a eye that issue.

Asked by martinakos on 2019-07-17 07:13:04 UTC