Initial guess for CHOMP
Is it possible to define an initial guess trajectory for further optimization by CHOMP?
In most cases the trajectory I am looking for is just a straight line or а Γ-shaped. Thus, I know the first approximation of the trajectory, and I would like to use this knowledge to speed up the planning. Is it possible?
I found in doc the configuration parameter trajectory_initialization_method. If value of this is equal to fillTrajectory, then it will use another planner for initial guess. But, this way seems quite complicated.
Not sure this is what you're looking for, but CHOMP can be used as a post-processing step for other trajectories. See Using OMPL as a pre-processor for CHOMP for one example, post-processing OMPL results.
Yes, that's exactly what I mentioned. But, this way seems too much complicated, I will need to write my own planner just to pass a trajectory.
You might want to lookup some of the discussion around CHOMP over at the issue tracker of
ros-planning/moveit. Extending the MoveIt planning request message with a seed trajectory is actively being discussed IIRC (same issue with STOMP).