ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

How to use OMPL for path planning

asked 2013-04-22 11:44:25 -0500

SaiHV gravatar image

updated 2014-04-20 14:09:35 -0500

ngrennan gravatar image


I have a PGM/YAML set map that was generated from a Hokuyo LIDAR with an iRobot Create, and the objective is to use OMPL's libraries for motion planning in this map. I have the OMPL GUI, but there seems to be no straightforward way to use user generated maps, and all the example maps are in .dae format. ROS tutorials always seemed to talk about PR2 arm navigation.

I would greatly appreciate any suggestions as to how I can start off using OMPL's algorithms for navigation in my own map. Thank you.

edit retag flag offensive close merge delete

3 Answers

Sort by ยป oldest newest most voted

answered 2013-04-23 18:16:47 -0500

kalectro gravatar image

You could take a look into moveit. It uses OMPL to do the path planning and is pretty simple to use. Even though I am not sure that a LIDAR will work as a sensor, there are different sensor types accepted


edit flag offensive delete link more

answered 2013-04-22 22:00:47 -0500

Hi SaiHV,

Its a bit hard to get your head around OMPL from a beginning, as there are no real tutorials for bare bones application. Here is an explanation of my first couple of attempts. It may help filter what is important against what seems to be important.

I'm using fuerte and the arm navigation wizard gave me a couple of options for setups. It is well worth running as some of the launch files generated will likely be useful.

Hope it helps


edit flag offensive delete link more

answered 2013-04-30 13:17:13 -0500

SaiHV gravatar image

Thank you. I will take a look at the suggestions and let you know if I have any more questions.

edit flag offensive delete link more

Question Tools


Asked: 2013-04-22 11:44:25 -0500

Seen: 1,372 times

Last updated: Apr 30 '13