Questions tagged [ompl]

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Collision-free motion planning using OMPL in Moveit2

I am using Moveit2 (ROS2 Humble) to plan a collision-free motion using a UR manipulator and planners from the OMPL available in Moveit2. I have used this tutorial to spawn collision objects with the ...
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Creating a new planner in OMPL using Python

I am using OMPL in order to create a new planner using OMPL. The documentation gives only a short description of how to do so: ...
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Moveit. Plan path with relaxed orientation tolerances on the goal pose

Hi everyone, I am using moveit in python through the moveit_commander module. I am using the normal RRT planner from the OMPL planners. I want to plan and execute a motion to a goal with spherical ...
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how can i detect/prevent non linear movement

As you can see below, the "robotic arm" first goes "cartesian" correctly, but then it cannot follow "cartesian". i want to use cartesian path, If the cartesian path ...
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MoveIt multiple planning pipelines

I recently found the pilz_industrial_motion_planner, It can plan industrial tipical movements (PTP, LIN and CIRC). Following the MoveIt tutorials pilz_industrial_motion_planner tutorial and the ...
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how to get OMPL library loaded for default panda arm

how to get OMPL library loaded for default panda arm? Originally posted by AndreV84 on ROS Answers with karma: 16 on 2020-04-09 Post score: 0 Original comments Comment by gvdhoorn on 2020-04-10: ...
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Trajectory Length Problem

MISSION: Plan from A to B, not colliding with obstacles, using all planners in OMPL and CHOMP. Compare the trajectories of those planners. SETUP: I am using Moveit to plan for a 6 DOF articulated ...
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How to change a planner's timeout?

I'm trying to change the planner's timeout from the default value. I've looked in the config yaml files, launch files etc, searched online, but couldn't find anything, does anyone have any ideas? &...
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Check if target joint position is valid

Hi, I was wondering if there is a way to check if a goal pose of a planned path (planned in moveit with OMPL) is a valid pose, meaning that joint position constraints, collision, etc. are taken into ...
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PRM roadmap building not working through movegroup

Hello, I am using OMPL with ROS Kinetic and trying to make PRM work. I have the following in ompl_planning.yaml ...
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Details of MoveIt! to OMPL Pipeline

I have recently been trying to wrap my head around the pipeline between MoveIt! and OMPL. Currently, my main issue is that I want to be able to take a state generated by OMPL and map it back to what ...
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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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3D path planning in an underwater environment with obstacles

Hello, I was hoping to ask for some guidance from the ROS community on my current project. I am tasked with creating a controller capable of navigating AUVs (autonomous underwater vehicles) and ...
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Custom state sampler in MoveIt!

Hello everyone, I'm using MoveIt! with ROS Kinetic on Ubuntu 16.04 Xenial to plan the motion of a climbing legged robot. I want to try using sample-based planners to produce a feasible complete joint ...
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moveit: param server is missing planner configurations

Hello all, here are the errors, ...
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RRTConnect/TRAC IK fails only on Distance solve_type

So I'm trying to change the solve_type to "Distance" as opposed to "Speed" for TRAC IK. RRTConnect and TRAC IK acknowledge the change, but I'm ...
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Reducing motion of linear track

Hello all, Question is about MoveIt! and OMPL. I have 7DOF move_group with 6DOF KUKA and 1DOF slider (linear axis). I plan motion with RRT-Connect and have large translations of slider. For example ...
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How to define a cost function for the 'general state cost integral' optimization objective of OMPL through MoveIt?

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 ...
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try to build source moveit with source installed ompl

I am trying to introduce one new planner to my ompl. This is the reason that I need to install source ompl. I successfully built source ompl but failed when I tried to build moveit. Here is my reuslt ...
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Change Planner in MoveIt Python

Hey guys, i want to change the default motion planner from OMPL in MoveIt to "PRMkConfigDefault". But how can i change for example the planner for planning my group: ...
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use custom ompl instead of ros own ompl

Hey there I would like to develop some path planning algorithms along with ompl, however, it is not easy to use the ros build-in ompl. I would like to build the ompl from source in case of easy ...
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Convert Costmap2D to OMPL State Space

I am writing a global planner plugin for the navigation stack using OMPL. I need to convert the Costmap2D in ROS to its corresponding State Space representation. Has anyone done this before? ...
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Configuring state space in MoveIt+OMPL

Hello, I am using moveit+ompl to control and plan for my 6dof manipulator. I created .srdf and .yaml files from .urdf using MoveIt setup assistant. What i want to do is to add degrees of freedom to ...
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Moveit path planning with constraints fails

Hey, I'm trying to move an object with the kinova mico arm, using ROS and moveit, while keeping the end effector horizontal. Relocating an object proved successful, however when I add some path ...
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how to plan a trajectory in cartesian space using OMPL

Hi!Guys! I use OMPL to plan a trajectory in Moveit! But it seems that OMPL just plan in joint space as default. I wonder can OMPL plan a trajectory in cartesian space in Moveit. I will be grateful if ...
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Overlaying a package with "cmake" build type

Edit: I think the final answer to this question was basically, "This is expected. Don't worry about it." I want to overlay the ompl package, which is a cmake-only build: ...
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How to link to a custom version of OMPL instead of the ROS-supplied version?

ROS Hydro comes with OMPL 0.13.0. I want to use OMPL 1.0.0. For this project, I'm using OMPL on its own; I'm not trying to change the one used by MoveIt, only the one used by my program. How do I set ...
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Using OMPL for Turtlebot 2

Hi guys, I am very new to ROS. Now I am trying to implement planners in OMPL to Turtlebot 2. i.e. using RRT or RRT* in OMPL instead of the global planners offered in ROS. I have seen this website &...
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ROS Answers SE migration: ompl error

ros indigo ubuntu 14.04 trusty when i launch: roslaunch clam_moveit_config move_group.launch i get: ...
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How to solve this problem from running a new BaseGlobalPlanner in move_base

Hi, all, I wrote a global planner by modifying this ompl_planner_base code which is based on OMPL . The original code is an old style, so I modified it to run it in Hydro successfully. I also built it ...
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About a path that the OMPL solved

My question: Does ompl make a path except for start pose and goal pose? Is this correct? I have had a problem to move a turtlebot with ompl. That's that ompl has solved a path, but my turtlebot has ...
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how to change default planner for moveit

I am attempting to change the default planner for moveit from LBKPIECE1 to ESTkConfigDefault. I have tried appending: default_planner_config: ESTkConfigDefault ...
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end-effector pose constrained planning

Hello: I am looking for end-effector pose constrained planning for the manipulator. I know that such functionalities have been provided in "MoveIt!" where you set your kinematics constraints ...
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How to write a code with OMPL -Part1-

I might put a similar question on this web. As writing a subject, I want to understand how to write a code with OMPL to move a turtlebot. Now, I'm writing the code. I think global_planner with OMPL ...
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basic question to make a code with OMPL

I read how to write a new global planner on this web.( http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS ). and asked a question about how to ...
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How to implement OMPL to move a turtlebot

I want to move a turtlebot with OMPL. I understand that OMPL is standalone and source file I edit should calls the library of planner as global planner. OMPL includes geometric/planners and control/...
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1 answer
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Problem with new BaseGlobalPlanner plugin

I tried to make a new BaseGlobalPlanner plugin for use with move_base. In this Plugin I use ros-hydro-ompl package. After I've created .cpp and .h (that include ompl library) file, I've compiled with ...
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Problem with catkin depends

When I compile my package with catkin_make I see this error: ...
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Existing motion planner for double Ackermann kynematics?

Hi, I have a robot with double ackermann kynematics/steering, this means that the unlike in a conventional car, you can also steer the rear wheels and make use of crab like steering. Is there any open ...
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OMPL_ros_interface on Hydro

I'd like to use OMPL library on ROS Hydro to implement OMPL motion planning on Turtlebot. I found the package OMPL_ros_interface but is available in Groovy and not in Hydro. Is there other package for ...
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ROS navigation stack VS OMPL

I am starting to look at navigation options to use for my humanoid robot (nao) and I would like some inputs from the community on using ROS navigation VS OMPL. Both of them seem to be a good solution ...
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Using OMPL with turtlebot

My intention in to implement an algorithm for path planning to Turtlebot. I'd like to implement the RRT (Rapidly-exploring Random Tree) planner using OMPL Library. Is it possible? or discouraged me to ...
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Does ompl generate path or trajectory?

Hi, Does ompl generate path or trajectory? If it generate trajectory, where it creates time, velocity and acceleration profile for a path? Thanks for any help in advance! Originally posted by ...
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ompl - planning under differential constraints

Hi guys! Anyone had never used the ompl (http://ompl.kavrakilab.org/index.html) library to plan the motion of a mobile robots ( car-like or quadrotor )?? I've read all tutorials and demos too, but, ...
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geometric_shapes_msgs has not been declared

Im following this tutorial : http://www.ros.org/wiki/ompl_ros_interface/Tutorials/Specifying%20pose%20goals, and it says geometric_shapes_msgs has not been declared. I check the package and it's not ...
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Ompl ros calling the joint space planner

Hi, I am trying to call the joint space planner based on this tutorial :http://www.ros.org/wiki/ompl_ros_interface/Tutorials/Calling%20the%20joint%20space%20planner. But I found error message. I am ...
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How to use OMPL for path planning

Hello, I have a PGM/YAML set map that was generated from a Hokuyo LIDAR with an iRobot Create, and the objective is to use OMPL's libraries for motion planning in this map. I have the OMPL GUI, but ...
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Updating RRT in ompl_ros_interface

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Cartesian RRT or SBPL Motion Planning for non-PR2?

Hi all, There are some limitations with using joint-space motion planners with numeric IK solvers. Does anyone have experience using, or can suggest an effective cartesian space planner for a 7-10 DOF ...
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How tuning ompl parameters?

Hi, I know that OMPL performance can be improved by tuning parameters in planning.yaml file, but which are those parametros? and how can be setting? Regards. Originally posted by Sanxano on ROS ...
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