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Does ompl generate path or trajectory?

asked 2013-06-17 02:55:54 -0500

AdrianPeng gravatar image

updated 2014-11-22 17:05:06 -0500

ngrennan gravatar image

Hi,

Does ompl generate path or trajectory? If it generate trajectory, where it creates time, velocity and acceleration profile for a path?

Thanks for any help in advance!

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answered 2013-06-17 03:16:32 -0500

Adolfo Rodriguez T gravatar image

It depends on the planner you use. Some planners might return paths, others trajectories. In my experience, all OMPL planners I've used so far return paths, and they get time-parameterized during a filtering step that follows planning. Filtering takes place outside OMPL but within the scope of arm_navigation / MoveIt!.

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Did you use RRTconnect planner before? I am interested using that. Does that generate path or trajectory?

AdrianPeng gravatar image AdrianPeng  ( 2013-06-17 04:31:55 -0500 )edit

And do you know where filtering take place in moveit? in http://moveit.ros.org/wiki/Groovy/API_Overview_Diagram, I found trajectory_processing. Is it used to time-parameterize path generated by ompl planners?

AdrianPeng gravatar image AdrianPeng  ( 2013-06-17 04:35:42 -0500 )edit

RRTconnect and its variants output paths. Regarding the filtering step, MoveIt's Trajectory Processing functionalities implement the time parameterizations you're looking for. Note that there might be bundles of functionality that already do this for you, check the move_group action for example.

Adolfo Rodriguez T gravatar image Adolfo Rodriguez T  ( 2013-06-17 04:52:33 -0500 )edit

I want to know how moveit implement time parameterization for path. I want to change the time parameterization to test the trajectory controllers. Thx for your help! I will look into Trajectory Processing.

AdrianPeng gravatar image AdrianPeng  ( 2013-06-17 05:11:06 -0500 )edit

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Asked: 2013-06-17 02:55:54 -0500

Seen: 572 times

Last updated: Jun 17 '13