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Questions tagged [motion-planners]

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How to plan with STOMP on Humble?

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 ...
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Motion Planner unable to retreive the actual Robot State from the Planning Scene

I am having trouble executing a simple Point-To-Point movement-plan which was calculated by a planning_interface::MotionPlanRequest. The trajectory calculation succeeds, but when trying to execute it ...
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real-time motion planning in moveit

My question is about real-time motion planning in moveit or other ros packages. currently there are a good number of offline planners in moveit but is there any online and real-time planning method? ...
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Different Ways to Implement Custom Planners with MoveIt!

Hello! I am currently in the process of implementing a custom planner for my robot arm through MoveIt!. Looking at the documentation and at various forums, there seems to be two approaches. Install ...
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Which part of ROS navigation is responsible for path correction?

I've been traveling around ROS' navigation stack, looking for the path correction code and I couldn't find it. I am using a kobuki iClebo's TurtleBot platform, along with kinect instead of laser scan. ...
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MoveIt ! Rviz plugin show mutiple pr2 model in disorder when I fellow the quick start tutorial

I try to follow the quick start tutorial of the MoveIt. When I use rviz plugin to show the pr2 model and try to interact with the pr2. The tutorial can be found at MoveIt webside. but the problem is ...
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motion_planners stack: broken link

The motion_planners stack's page contains a broken download link. Namely the "source" link refers to a non-existent svn: https:// code.ros.org/svn/wg-ros-pkg/stacks/motion_planners/trunk. ...
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Extending the ompl_ros_interface

While looking through the OMPL documentation I found a bunch of interesting features, such as planning in control space and creating custom (problem-specific) state samplers. Are these features (Is ...
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Using CHOMP in arm_navigation

Hi there! I'm currently trying to get the CHOMP motion planner working for my robot arm using arm_navigation. So far with no luck, because the planner crashes here at line 795 (@chomp_motion_planner/...
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How to benchmark OMPL-planner solutions?

Hi All, How to benchmark OMPL-planner solutions if we use the ompl_ros_interface? I wish there is a standard way to do so as if we use the standalone OMPL (see this tutorial). What do you think? How ...
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how to debug a package dependent on multiple packages?

Hi everybody, I am trying a global planner based on D* lite. I am using launch files in sbpl_lattice_planner. But move_base dies as soon as goal is passed through nav_view! The problem is how to run ...
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Sending Goal to action server fails

I am trying to send goals to the move_base action server, as per the ROS tutorial . My action server is the one created by roslaunch move_base_amcl_2.5cm.launch ...
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Setting the goal in TrajectoryPlannerROS

I've been going through the API's in TrajectoryPlannerROS from here and in the ROS wiki. But I haven't been able to figure out how to set the goal pose? I can't make this out anywhere in the ...
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What should i do for planning a motion path with a set of values for a robot head?

What should i do for planning a motion path with a set of values for a robot head?How to implement the values for motion planning for the joint? Originally posted by ram on ROS Answers with karma: 9 ...
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Motion planning using carrot planner

I'm unable to get simple carrot planner code , for motion planning, up and running. The problem I'm trying to write code for is: to use carrot planner to move the erratic gazebo robot from a start ...
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Planning with OMPL using a subset of joints

I would like to be able to treat the PR2 as a planar three link manipulator and test out some built in planners (openrave or OMPL). Is there a way to restrict openrave and/or OMPL to use only the ...
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