Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

How to define a cost function for the 'general state cost integral' optimization objective of OMPL through MoveIt?

asked 2017-07-20 05:21:52 -0500

JHofmann
11 ●2 ●3 ●4

Hi, I'm relatively new to OMPL and MoveIt, but I'm fairly certain that I understand the capabilities of OMPL and that there are no tutorials for this. Maybe I'm just missing something. I'm hoping someone might have an idea.

I want to use the general state cost integral optimization objective to plan movements for a UR5 robot arm. I know how to tell MoveIt to use this method (in ompl_planning.yaml), but I don't know where I need to define the cost function. Is it even possible at the moment?

Thank you for your time!

edit retag flag offensive close merge delete