base motion planner with OMPL

Question

Hi there, I wanted to create motion plans for my robot base (and not for an arm) using OMPL (more specifically RRT). I have found the ompl_planner_base package, but I get an error from svn:

https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/sandbox/ompl_planner_base' doesn't exist

Is there any tweak to use the arm_navigation stack to provide plans for a robot base (ideally integrated with the navigation stack)?

thanks

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Originally posted by Procópio on ROS Answers with karma: 4402 on 2012-02-07

Post score: 1

Answer 1

This link [http://answers.ros.org/question/587/sampling-based-planning-methods-for-2d-navigation] may be of help.

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Originally posted by prince with karma: 660 on 2012-02-07

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by Procópio on 2012-02-07:
according to https://code.ros.org/trac/wg-ros-pkg/changeset/50709 the repository has changed to https://code.ros.org/svn/wg-ros-pkg/branches/trunk_dturtle/sandbox/ompl_planner_base/ I will update the wiki

Comment by Procópio on 2012-02-07:
Thanks. Actually it is exactly what I wanted, but the repository from ompl_planner_base is not working: "404 not found"

Answer 2

From what you describe, the SBPL lattice planner is what you´re looking for. Note that in general, it´s not easily possible to use a arm_navigation planner for motion planning for a mobile base (or vice versa).

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Originally posted by Stefan Kohlbrecher with karma: 24361 on 2012-02-07

This answer was NOT ACCEPTED on the original site

Post score: 1

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Original comments

Comment by Procópio on 2012-02-09:
it is not exactly what I wanted, but it is worth taking a look. thanks.

Comment by isucan on 2012-03-28:
Actually, the planners used in the arm_navigation stack (sampling-based) are not specific to arm planning. You can use them just fine for base planning. However, they are likely not going to be as fast as an A*-type planner, and won't give you optimality guarantees.