How to display Planner Data in Moveit?

asked 2019-10-03 03:27:10 -0500

gabrielK gravatar image

updated 2019-10-09 07:46:50 -0500

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.

  1. I saw in the ompl_planner_manager.cpp (moveit_planners_ompl 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...
  2. 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.

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I have a first version developed on the moveit side:

It can be tested with a separate node:

What do you think?

gabrielK gravatar image gabrielK  ( 2019-11-22 09:43:50 -0500 )edit