How to define a cost function for the 'general state cost integral' optimization objective of OMPL through MoveIt?

Question

Hi, I'm relatively new to OMPL and MoveIt, but I'm fairly certain that I understand the capabilities of OMPL and that there are no tutorials for this. Maybe I'm just missing something. I'm hoping someone might have an idea.

I want to use the general state cost integral optimization objective to plan movements for a UR5 robot arm. I know how to tell MoveIt to use this method (in ompl_planning.yaml), but I don't know where I need to define the cost function. Is it even possible at the moment?

Thank you for your time!

---

Originally posted by JHofmann on ROS Answers with karma: 11 on 2017-07-20

Post score: 1

---

Original comments

Comment by gvdhoorn on 2017-07-20:
I don't think this is supported in MoveIt right now, but let's wait on some other answers.

Answer 1

This has been asked and basically answered before on the moveit mailing list (but thanks for asking here!):

Cost-optimization planning

Related: Planning direct path plans

---

Originally posted by Dave Coleman with karma: 1396 on 2017-07-28

This answer was ACCEPTED on the original site

Post score: 1