What planners are available in Moveit?

asked 2014-07-08 04:07:39 -0600

scopus
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Hi, all, I want to implement a new global path planner for turtlebots with RRTstar or TRRT which are available in OMPL. I have checked Moveit and didn't find .cpp/.h files or infterfaces to RRTstar/ TRRT. I also read tutorial of Moveit and didn't find any instruction on using Moveit for path planning, not to speak of RRTstar/TRRT. Could someone give me some advices on using Moveit for path planning with RRTstar?

Thank you !

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hi, @isucan, It is well-known that you are one of the greater founders of Moveit and OMPL. Would you like to give me some advices? Thank you!

scopus ( 2014-07-10 03:33:27 -0600 )edit

Hi, @scopus, If you would like to know detailed information about OMPL, I recommend you to post to ompl-users@lists.sourceforge.net. I imagine that it is not better to directly ask a specific person on web site. I expect that your work will make progress.

Ken_in_JAPAN ( 2014-07-15 12:03:45 -0600 )edit

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answered 2014-07-14 13:56:45 -0600

Ken_in_JAPAN

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updated 2014-07-15 11:47:43 -0600

Did you install ros-hydro-ompl? There is RRTstar.h in opt/ros/hydro/include/ompl/geometric/planners/rrt. Could you check it out? As OMPL is stand alone, you can add RRTstar.h to your code as follows.

#include <ompl/geometric/planners/rrt/RRTstar.h>

I'm sorry. you wanted to use RRTstar on MoveIt!, didn't you. I wrote how to implement RRTStar with OMPL. In case of MoveIt, some planners you want to apply to a PR2 appear on Rviz. I have never applied a planner to my turtlebot. I continue to edit my code with ompl to make a turtlebot move.

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Hi, Ken_in_JAPAN, I am also editing a code with ompl to make a turtlebot move. I just successfully compile the example code in Hydro as I told you. Next time I will try to build it into a global planner and move a turtlebot with it.

scopus ( 2014-07-21 02:24:25 -0600 )edit

Well, is my answer useful for you?

Ken_in_JAPAN ( 2014-07-21 03:14:07 -0600 )edit

Hi, @Ken_in_JAPAN, thank you for your answer. But I encounterd another problem when I was doing this work. Please move to this new tips: http://answers.ros.org/question/187705/how-to-solve-this-problem-from-running-a-new-baseglobalplanner-in-move_base/, Hope you give me some valuable advices.

scopus ( 2014-07-24 10:42:42 -0600 )edit

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What planners are available in Moveit?

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