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Using the CHOMP motion planner in MoveIt!

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

Robert Krug
225 ●12 ●15 ●23

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

ngrennan
1 ●1 ●1

Hi,

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 ( 2014-11-11 09:57:00 -0600 )edit

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

jrgnicho

486 ●3 ●12 ●14 http://rosindustrial.org/

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: https://github.com/davetcoleman/movei...

It will be found on http://docs.ros.org/kinetic/api/movei... once the buildfarm refreshes.

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

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

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Last updated: Oct 31 '16

Using the CHOMP motion planner in MoveIt! edit

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Using the CHOMP motion planner in MoveIt!