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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-


Originally posted by Robert Krug on ROS Answers with karma: 225 on 2013-09-19

Post score: 5


Original comments

Comment by Rabe on 2014-11-11:
Did you find a solution?

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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


Originally posted by jrgnicho with karma: 486 on 2016-10-31

This answer was ACCEPTED on the original site

Post score: 3


Original comments

Comment by Dave Coleman on 2016-10-31:
A very basic tutorial has been started here: https://github.com/davetcoleman/moveit_tutorials/blob/2d7d4a9a1e7c1209c26ffe4be3a049751c8eed4c/doc/chomp_interface_tutorial.rst

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

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