mxch_18's profile - activity

Glad that you found a solution!

Therefore, I believe that it should be used in the same way than the tutorial, and in the place of asyncMove method. But

Hello! Please forget about this, it was not actually relevant to your issue, sorry. What I'm more confused about is this

I'm really confused. Are you simulating the robot or using a real one? If simulating, where in your code do you load the

I will try at home and get back to you. Sorry for not helping much

I think using asyncMove() is not a good idea in this context. How can it take into account the MotionPlanRequest you cre

I am a beginner using MoveIt, but I doubt it is a planning time problem. One more thing different in the tutorial is: co

Hello! I don't know your robot, but the quaternion.header.frame_id parameter is usually the robot base. Is "ee_link" you

Hello everyone,

I'm using MoveIt! with ROS Kinetic on Ubuntu 16.04 Xenial to plan the motion of a climbing legged robot. I want to try using sample-based planners to produce a feasible complete joint path/trajectory. To do that I need to create a custom state sampler, because in my application I can't rely on rejection-sampling to find suitable new states.

I have read the MoveIt! custom constraint sampler tutorial page, but I guess it is still incomplete, because I can't find the

ROBOT_moveit_plugins/ROBOT_moveit_constraint_sampler_plugin

template that they talk about.

I have also taken a look at the MoveIt! planning with approximated constraint manifolds but, from what I understand, that is not what I want.

I wish to program in C++. I am not unfamiliar with the OMPL library (so such a thing doesn't scare me), but I'm very far from being an expert. My guess is that I need to repeat the procedure provided in the last link, and somehow make it so MoveIt! knows to use this sampler instead of the default one.

So my question is: how can I implement a custom sampler to use in the MoveIt! framework? I say "custom" in the sense that my sampler will use a specific method to produce valid new states without having to rely extensively on rejection-sampling.

Any input is appreciated.

Best, Maxens

Hello, I'm in the same process as you I believe; I'm trying to add a custom planner to MoveIt. I decided to use the firs

I think the whole "put OMPL source in the same workspace" is actually not needed. You could just put it somewhere else a

Hello again, I figured it out, so I thought I would come back to share my solution. I hope it can help other people. A

Custom state sampler in MoveIt! Hello everyone, I'm using MoveIt! with ROS Kinetic on Ubuntu 16.04 Xenial to plan the m