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How to use OMPL for path planning

asked 2013-04-22 11:44:25 -0600

SaiHV gravatar image

updated 2014-04-20 14:09:35 -0600

ngrennan gravatar image

Hello,

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.

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answered 2013-04-23 18:16:47 -0600

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

Kai

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answered 2013-04-22 22:00:47 -0600

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

Peter

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answered 2013-04-30 13:17:13 -0600

SaiHV gravatar image

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

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Asked: 2013-04-22 11:44:25 -0600

Seen: 1,016 times

Last updated: Apr 30 '13