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Duplicate of (https://github.com/orgs/ros-planning/discussions/2737)
I am looking for an up-to-date tutorial on planning with the STOMP planning algorithm. I am using ros Humble on Ubuntu 22.04.4 LTS. However, when I install moveit2 from binary sudo apt-get install ros-humble-moveit*, I encounter exceptions that stomp_moveit/StompPlanner is unknown, among others.

I also tried to install moveit2 from the source, but I noticed that STOMP is not present in the moveit_planners directory on Humble branch since the migration commit e3539be58a1f972e6deba4c61dbfb46fecb2b3d5 (PR) is only available on the main branch. Moreover, the repo stomp_moveit is already marked as a public archive, and I believe it was a work in progress before it was archived.

Can someone please provide a brief tutorial on how to set up the environment for the planner STOMP?

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As far as I know, STOMP is included in Iron, but not in Humble

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  • $\begingroup$ Is it possible to migrate STOMP also to Humble branch? Resp, do you think the process will be challenging? $\endgroup$
    – Jakub Ivan
    Commented Mar 13 at 12:56
  • $\begingroup$ anyway, thanks for the response $\endgroup$
    – Jakub Ivan
    Commented Mar 13 at 13:06
  • $\begingroup$ I asked that same question in MoveIt's github, but with no response: github.com/ros-planning/moveit2/issues/2550 My gut feeling is that it shouldn't be super hard, but in my (short) experience with MoveIt, things are always harder than the look. $\endgroup$
    – leandro
    Commented Mar 14 at 12:12

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