Error reporting chomp/OptimizerAdapter does not exist?

asked 2022-03-21 13:34:59 -0600

ghelfrich gravatar image

updated 2022-03-21 13:35:55 -0600

Hello, I am attempting to use ompl as a pre-processor for the chomp trajectory planner. However, I am receiving this error when I launch the program:

ros.moveit_ros_planning: Exception while loading planning adapter plugin 'chomp/OptimizerAdapter': According to the loaded plugin descriptions the class chomp/OptimizerAdapter with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds

I am at a loss for how to identify where this issue is occurring or how to solve it. Perhaps someone could explain step by step how to implement ompl (I would like to use RRTstar), then use chomp to further optimize the trajectory? I attempted to follow the MoveIt! tutorials on ompl as a pre-processor for chomp, but have yet to have a successful trajectory planned. If I need to include any more information about my workspace please ask. I am running Ubuntu 18.04 and ROS Melodic.

Thank you!

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