base motion planner with OMPL

asked 2012-02-07 08:07:12 -0600

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updated 2012-02-07 08:14:01 -0600

Hi there, I wanted to create motion plans for my robot base (and not for an arm) using OMPL (more specifically RRT). I have found the ompl_planner_base package, but I get an error from svn:

https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/sandbox/ompl_planner_base' doesn't exist

Is there any tweak to use the arm_navigation stack to provide plans for a robot base (ideally integrated with the navigation stack)?

thanks

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answered 2012-02-07 17:58:29 -0600

prince

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This link [http://answers.ros.org/question/587/sampling-based-planning-methods-for-2d-navigation] may be of help.

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Thanks. Actually it is exactly what I wanted, but the repository from ompl_planner_base is not working: "404 not found"

Procópio ( 2012-02-07 19:43:26 -0600 )edit

according to https://code.ros.org/trac/wg-ros-pkg/changeset/50709 the repository has changed to https://code.ros.org/svn/wg-ros-pkg/branches/trunk_dturtle/sandbox/ompl_planner_base/ I will update the wiki

Procópio ( 2012-02-07 19:55:29 -0600 )edit

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answered 2012-02-07 08:46:02 -0600

Stefan Kohlbrecher

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From what you describe, the SBPL lattice planner is what you´re looking for. Note that in general, it´s not easily possible to use a arm_navigation planner for motion planning for a mobile base (or vice versa).

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it is not exactly what I wanted, but it is worth taking a look. thanks.

Procópio ( 2012-02-09 00:40:39 -0600 )edit

Actually, the planners used in the arm_navigation stack (sampling-based) are not specific to arm planning. You can use them just fine for base planning. However, they are likely not going to be as fast as an A*-type planner, and won't give you optimality guarantees.

isucan ( 2012-03-28 21:47:25 -0600 )edit

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