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How tuning ompl parameters?

asked 2012-12-10 23:10:54 -0600

Sanxano gravatar image

Hi,

I know that OMPL performance can be improved by tuning parameters in planning.yaml file, but which are those parametros? and how can be setting?

Regards.

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answered 2013-04-04 19:09:32 -0600

Ed Venator gravatar image
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answered 2014-05-08 23:30:20 -0600

Yannik_K gravatar image

I was struggling with the same problem 1,5 years after you posted this question. The tutorial Ed send didn't cover the fact to modify planners (that tutorial still has to be made or i just didn't find it).

You can change the parameters in your ompl_planning.yaml file after your planner is configured.

e.g.: change the 'range' parameter of RRT to 2.5:

RRTkConfigDefault:
    type: geometric::RRT
    range: 2.5

So only one small line has to be added to change the parameter.

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Asked: 2012-12-10 23:10:54 -0600

Seen: 731 times

Last updated: May 08 '14