The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Maybe for this answer i can answer: there are different planners that you can use with moveit and "different types" like OMPL, CHOMP http://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/chomp_planner/chomp_planner_tutorial.html or STOMP. I don't know the details because i'm using OMPL types and i'm still finding the best one for my robot.
For example OMPL planners can be found here: http://ompl.kavrakilab.org/planners.html There is also a good PDF on their website which explains the differents main types.
About how to choose the planner with Python i'm using this command: group_l.set_planner_id(planner). Where group_l for me is the moveitCommander object of the left arm. planner is the string variable that defines the ID of the planner, it's a string variable.
The planner IDs and the parameters of the planners can be found in the file ompl_planning.yaml under your folder moveit_config of your workspace.
I hope to have answer correctly to your question. See you!
| | 2 | No.2 Revision |
Maybe for this answer i can answer: there are different planners that you can use with moveit and "different types" like OMPL, CHOMP http://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/chomp_planner/chomp_planner_tutorial.html or STOMP. I don't know the details because i'm using OMPL types and i'm still finding the best one for my robot.
For example OMPL planners can be found here: http://ompl.kavrakilab.org/planners.html There is also a good PDF on their website which explains the differents main types.
About how to choose the planner with Python i'm using this command: group_l.set_planner_id(planner). group_l.set_planner_id(planner). Where group_l group_l for me is the moveitCommander MoveitCommander object of the left arm. planner planner is the string variable that defines the ID of the planner, it's a string variable.
The planner IDs and the parameters of the planners can be found in the file ompl_planning.yaml under your folder moveit_config of your workspace.
I hope to have answer correctly to your question. See you!
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
