Using gpmp2 motion planner in MoveIt

asked 2022-05-22 02:29:32 -0600

yocufra gravatar image

Hello, I'm fairly new to robotics and ROS. I'm currently using moveit's move_group node to generate trajectories for a sawyer robot arm. I've read that it's possible to include other motion planners in moveit by adding it to OMPL (https://web.archive.org/web/201410251...). I would like to use gpmp2 (https://github.com/gtrll/gpmp2) as a motion planner in moveit. Is there an easy way to integrate the motion planner or do I have to rebuild the planner through the described method myself? Or is it just better to use OpenRAVE since there already is an OpenRAVE plugin for gpmp2?

Thanks for taking the time to read and respond!

I'm using ROS noetic on Ubuntu 20.04

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