Description about MoveIt's OMPL Python Interface

asked 2021-10-04 08:39:40 -0600

nik.las gravatar image

I am using ROS Noetic to control a UR10e via MoveIt. I've set up Gazebo and can move the robot in there using the MoveGroup Python interface (following this tutorial). I am now trying to understand and benchmark the different motion planners that are available in OMPL.

My overall question is: where can I find more information about MoveIt OMPL planners and its Python Interface. More specifically:

(1) Where can I find (more) information about which parameter is available for which planner? I was hoping to find a succinct description. It is said here that "settings can typically be found in the ompl_planning.yaml", which is true (to some extent), although I couldn't find longest_valid_segment_fraction there by default. That makes me wonder if there are other options that are not listed. There is no description of the parameters in there either.

(2) How can I change/adapt the parameters via the Python Interface? For example, I found set_num_planning_attemps(). I also found somebody referencing set_planner_params() here, although I can't find any trace of such a method in the Python Interface (is that only available in C++?).

(3) Using the AnytimePathShortening planner (which I selected via set_planner_id() I do get much better results compared to simply using RRTConnect for example. How can I figure out which motion planners are used by the AnytimePathShortening meta-planner and how can I modify them?

Many thanks!

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Comments

I can't find the time for a proper response, so:
1) If you mean the OMPL planners, then inside OMPL
2) Yes, the Python interface is incomplete
3) Probably also OMPL.
Sorry for the short comment. Please post an answer your question here when you find out more.

fvd gravatar image fvd  ( 2021-10-07 12:10:40 -0600 )edit