Using CHOMP in arm_navigation

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Hi there!

I'm currently trying to get the CHOMP motion planner working for my robot arm using arm_navigation. So far with no luck, because the planner crashes here at line 795 (@chomp_motion_planner/src/chomp_optimizer.cpp):

00791       const string& jointName = joint_names_[joint];
00792       const KinematicModel::JointModel* jointModel = modelGroup->getJointModel(jointName);
00793       const KinematicModel::RevoluteJointModel* revoluteJoint = dynamic_cast<const KinematicModel::RevoluteJointModel*>(jointModel);
00794 
00795       if(revoluteJoint->continuous_)
00796       {
00797         continue;
00798       }

Crashing here makes sense, since my arm contains prismatic joints.

Before I start modifying the code, I would like to ask:

• Is anybody currently using this planner with arm_navigation?
• Did someone successfully apply this planner to arms containing joints other than revolute ones?
• Is there any reason, why the planner is limited to revolute joints? E.g. Is the planner itself not capable of handling joints other than revolute ones?

Thanks!