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Using the CHOMP motion planner in MoveIt!

asked 2013-09-19 23:17:45 -0600

Robert Krug gravatar image

updated 2014-01-28 17:18:01 -0600

ngrennan gravatar image


I would like to use the CHOMP motion planner in MoveIt! for a KUKA lightweight arm (with Groovy). I have fairly limited experience with these tools and the tutorials for using CHOMP are limited to integration in arm_navigation and the MoveIt! setup wizard doesn't provide an option for using CHOMP.

If somebody could explain how to modify the according MoveIt! launch files and maybe provide an example I would be grateful.

Thx, -Robert-

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Did you find a solution?

Rabe gravatar image Rabe  ( 2014-11-11 09:57:00 -0600 )edit

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answered 2016-10-31 10:12:25 -0600

Hello there, A functional version of Chomp has been merged into kinetic here. Feel free to make a Pull Request to fix issues or document the code. Thanks

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A very basic tutorial has been started here:

It will be found on once the buildfarm refreshes.

Dave Coleman gravatar image Dave Coleman  ( 2016-10-31 11:33:14 -0600 )edit

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Asked: 2013-09-19 23:17:45 -0600

Seen: 838 times

Last updated: Oct 31 '16