moveit! motion planning reuse

asked 2019-07-17 05:13:54 -0600

martinakos gravatar image

I'm using moveit!'s default RRTConnectkConfigDefault motion planner to control an arm. Is there any way of reusing the tree that the RTT algorithm creates, so that I can plan multiple motions using the same tree rather than recalculating the tree for each motion? if that's not possible, is there any planner in moveit that allows for this functionality?

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Good day, I found this Issue (Nr. 1026) on Github. To me, it seems that this functionality is not yet implemented in moveit. If you find a solution, it might be a good idea to also reference this in the issue on github.

cpetersmeier gravatar image cpetersmeier  ( 2019-07-17 06:49:36 -0600 )edit

thanks! I'll keep a eye that issue.

martinakos gravatar image martinakos  ( 2019-07-17 07:13:04 -0600 )edit