[MoveIt!] How do the motion planners work concretely in MoveIt! ?

Hello everyone,

I was looking at the planning algorithms used in MoveIt!. The OMPL library is mostly sample-based algorithms. I understand how these algorithms sort of work, but I read somewhere that these algorithms have no concept of the robot. So isn't it possible that the trajectory these algorithms generate are unfeasible for the robot (collision of a robot link with environment for example)? It's obvious that we want these trajectories to be feasible for the robot, so how is the robot eventually taken into account?

Thanks in advance

Asked by umopapisdnquap on 2019-10-01 11:39:03 UTC

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Answers

Does this or this answer your question?

The OMPL algorithms may not have a concept of the robot, but they know about the joint constraints, and for each node/sample a collision check is performed (currently either in a FCL or Bullet collision environment). I guess this is what you want to know when you ask "how is the robot is eventually taken into account".

Asked by fvd on 2020-03-01 06:20:19 UTC