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ROS2-Ompl integration build error

I am a total noob in cpp and linux terminal. I am working to get my little turtlebot3 in simulation to navigate through the map I generated through ros slam. Now I am facing some errors when using tf2 ...
Venkat Balaji's user avatar
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For my 6-axis robot, goal pose accuracy +/- 0.3 degrees with any OMPL planner. How to reach at least 0.01 degrees or better?

I'm very disappointed about MoveIt planning accuracy and hope you can help me with some useful advices. Some tech. intro: Ubuntu 22.04.3 LTS ROS2 Rolling Gazebo Classic MoveIT2 (installed from source) ...
Kirill Partala's user avatar
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Publishing scene does not make planner take it into account

Hello everyone, I'm working with a model of the schunk 7DOF arm in moveit. I import objects into the environment and publish the scene but still the planner provides a path that goes through the ...
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Can I use OMPL for path planning/tutorial

Hi, I want to use the OMPL ros package to do some motion planning with a create and hokuyo laser scanner. But the ompl_ros_interface tutorial seems completely focused on moving a robotic arm. Is there ...
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arm_navigation stack: ompl node not recognising end effector/tip name for processing Cartesian Goals

I'm trying to utilise the OMPL node to generate trajectories. I've been able to call the ompl_planning/getMotionPlan service on my ompl_planning node by ensuring I've sent through an empty ...
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ompl_planning/GetMotionPlan returns non-valid trajectories

Hi All As per above, I am trying to call ompl_planning/GetMotionPlan service from the ompl_planning node for arm navigation. I'm not using a move_arm action but am calling the ompl_planning node ...
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using arm_navigation_msgs/GetMotionPlan: what setup/nodes are required to receive trajectories programatically

I've been following the ompl tutorials listed here and it all seems fairly straightforward except that it doesn't seem that having the ompl_planning node alone would be sufficient to generate the ...
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question: how to make an action request to ompl_planning

Hello everyone, has someone an example or a detailed explanation on how yo make a request to the ompl_planning node? (the type of message, how is it filled and sent, how to interpret the response and ...
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Need help with RRT star algorithm for robotic arm

Hello! I'm new at ROS and was hoping to make a robotic arm with 5 DoF plan paths with this algorithm (RRT star with Ball Tree). I have found references to it in the OMPL package, but I still don't ...
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OMPL: Gets more points within the trajectory

Hi everyone!!! I need some help with OMPL. when the planner computes a path gives me a few points, and I need 200 Hz (500 points per second) Anyone know of any parameter to change? Thanks!! ...
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2 answers
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base motion planner with OMPL

Hi there, I wanted to create motion plans for my robot base (and not for an arm) using OMPL (more specifically RRT). I have found the ompl_planner_base package, but I get an error from svn: ...
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How do I find specific planner configuration options?

Basically, I'd like to re-ask this question. I would like to run some benchmarking tests using several of the planners available in ompl. I would also like to be able to experiment with different ...
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1 answer
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How I can add obstacles in the arm navigation package(electric)

Hi !!! My name is Iván.I'm working with the arm-navigation package. It work excellently. But now I have to add obstacles, and do not know how to tell the arm_naviagation where the obstacles are. Could ...
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1 answer
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Description/Walkthrough of Tolerances in move_arm

Is there an explanation of how exactly the tolerances work for move_arm? I'm mostly interested in the roll/pitch/yaw tolerances. For example, I want to move the arm so that the gripper is pointing ...
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Trajectory filter failing for coordinated arms movement

Hello, I am working on coordinated motions with two 7 dof arms. I'm using diamondback. Currently, I am running only simulations via gazebo. I have been able to expose some basic move_arm ...
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1 answer
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ompl planning attempts to move through static obstacles

Hello all! I'm trying to use the ompl planner to get the path for our robotic arm. I have added static obstacles to the collision space, and sometimes when trying to move the arm from one location to ...
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5 answers
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Openrave ikfast as an ik plugin for motion planning

Hi, all, I want to make use of the strength of Openrave to get the analytic solutions for our 5dof manipulator. I know in orrosplanning package, ik_openrave.py provide a service /GetPositionIK. But I ...
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2 answers
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Inverse kinematics solver

Hi, all, I need to select an IK solver for a 5dof manipulator. I took a look at the IK solver in ROS. There seems at least two IK solvers. One is KDL which use extensively in arm_kinematics and ...
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Where is the documentation on ompl_ros_interface?

I am currently updating my katana_arm_navigation stack (based on pr2_arm_navigation) from CTurtle to Diamondback. Especially in ...
Martin's user avatar
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ompl_planning returns invalid plans

Hi, I've been using the OMPL planner for the PR2 arm in fairly constrained situations (trying to pick items out of a cabinet) and it keeps returning invalid plans. Specifically, it returns a plan ...
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Planning and joint state map cache

Hi all, I've been playing with arm motion planning (OMPL) on a non-PR2 robot for a while now. I am currently working with a Schunk arm and a ShadowRobot hand at the tip. Both devices are controlled on ...
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ompl_planning with no obstacles crashing

Guys, I am composing a planning stack for a SCHUNK arm (wiki entry is to come soon hopefully). I managed to get all the pieces in place, but I want to avoid using obstacles right now. I've already ...
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1 answer
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Setting up OMPL on a non-PR2 robot

Hi guys, I am trying to set up some basic planning with a Schunk arm. I am not concerned with obstacle avoidance at the moment. I tried the interpolated_ik_motion_planner as a simple solution, but ...
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1 answer
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unable to get valid path when calling /ompl_planning/plan_kinematic_path

I feel a little desperate since I don't know what I'm doing wrong here: From within our grasp_planner, I want to call the "/plan_kinematic_path" service from the ompl package. Here is how I ...
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