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Is there a more direct way to set up a planning node in ompl?

asked 2012-04-09 04:58:06 -0600

Carlos gravatar image

updated 2012-04-09 07:11:27 -0600

Hi there! I've been reading about how to use ROS for a robotic arm path planning for a while and I actually got some feedback about a doubt I had in this topic.

For what I see, I'll have to write my own c++ code to define the StateValididyChecker procedure.

Now, I also understand the URDF of a robot has all the physic information one could need to extract the collision information, so isn't there a direct way that uses the URDF for the planning algorithm instead of defining a StateValidityChecker? Or am I just missing it?

Thanks a lot for the help. I'm hopping some day I could be the one answeing questions here :)

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answered 2012-07-11 19:33:25 -0600

bit-pirate gravatar image

Hi Carlos,

Have you tried the arm_navigation stack together with the Warehouse Viewer? It works like a charm for my (non-PR2) robot and I found it quite straight forward to set it up using the provided tutorials.

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Asked: 2012-04-09 04:58:06 -0600

Seen: 1,499 times

Last updated: Jul 11 '12