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Hi SaiHV,

Its a bit hard to get your head around OMPL from a beginning, as there are no real tutorials for bare bones application. Here is an explanation of my first couple of attempts. It may help filter what is important against what seems to be important.

I'm using fuerte and the arm navigation wizard gave me a couple of options for setups. It is well worth running as some of the launch files generated will likely be useful.

Hope it helps

Peter

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