How to display Planner Data in Moveit?
Hi everyone,
I am using moveit on the melodic-devel branch (hash c3f48c9) and using the ompl_interface. I would like to get all the planner data (all sampled states) and visualize them in rviz.
- I saw in the omplplannermanager.cpp (moveitplannersompl package) that there are public functions commented out (like displayPlannerData() and displayRandomValidStates()). But unfortunately I get quite some errors when uncommenting... Why has this functionality been disabled? I don't want to waste time to debug it if there was a proper reason to comment it out...
- What do you propose? Should I rather implement my desried functionality on the ompl side or rather on the moveit side? ( I though of running a parallel thread on the ompl side to get the planner data and store it as a graphml file, which can than be loaded in a later stage through a ROS node to publish the states)...
Thanks in advance for your help.
I am developing with Ubuntu 18.04.
Asked by gabrielK on 2019-10-03 03:27:10 UTC
Comments
I have a first version developed on the moveit side: https://github.com/GabrielKoenig/moveit
It can be tested with a separate node: https://github.com/GabrielKoenig/moveit_visualize_data
What do you think?
Asked by gabrielK on 2019-11-22 10:43:50 UTC