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Hey,

You need to create a new planning configuration that has the new planner name.

Open pr2_arm_navigation_planning/config/ompl_planning.yaml and update to something like this:

right_arm:
  planner_type: JointPlanner
  planner_configs:
    - SBLkConfig1 
    - RRTConnectkConfig1
    - LBKPIECEkConfig1

Make sure you follow the syntax correctly. The error you have seems to be a parsing one.

Then, you need to define what RRTConnectkConfig1 means. At the bottom of the file, where you have the planner_configs, update to something like this:

planner_configs:
  SBLkConfig1:
    type: kinematic::SBL

  RRTConnectkConfig1:
    type: kinematic::RRTConnect

  LBKPIECEkConfig1:
    type: kinematic::LBKPIECE

For the list of possible planner types to use see ompl_ros_planning_group.cpp in ompl_interface_ros. I'm sorry for the poor documentation. This will be easier in MoveIt!