Questions tagged [rrt]

Rapidly-exploring Random Trees is an algorithm for performing motion planning

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How to access the true ROS cost map boundaries instead of defaultones?

I am trying to do a basic RRT global planner implementation in ROS Melodic. I am using a wheeled mobile robot for testing my own global planner plugin for robot navigation through move_base. I am ...
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Why RRT based algorithms are not the default choice in ROS for mobile robots?

Hello all, so my question is not related to some hardware or software issue, instead i wanted to ask why RRT based algorithms are not fundamental choices for ROS (i am using melodic), instead why a ...
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How to translate a joint configuration

I'm currently working on a basic implementation of the RRT algorithm to control my 6DOF robotic arm. But how can I reduce the node to be in the radius of the nearest node of my graph without using the ...
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Trace terminal output to program

Does anyone know how I can trace the terminal output to the actual program where it is coming from? I have listed all nodes, search through the program's source codes with VS Code and terminal search, ...
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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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Does RRT perform graph search?

The basic RRT explores the space by sampling and if the goal is connected to the tree, the solution is returned. Can you define retrieving the path as a graph search?
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Statistical distance between degenerate distribution and any probability distribution

In sample-based motion planning, sampling methods would change the cost of path and computation time for the same planning algorithm. I would like to compare different sampling methods. So, the ...
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Arm path planning with obstacle avoidance in Unity

My application is not specifically in Robotics, but the problem that I'm trying to solve seems to have been studied primarily from the viewpoint of Robotics, so I am hoping to get an answer here. ...
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how to benchmark multi-query motion planners in Moveit?

i have used benchmark in movei for single query. now i want to compare PRM with RRT. how can we define multi-query? Originally posted by MahShah on ROS Answers with karma: 15 on 2019-01-15 Post score:...
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RRT star Convergence

My Code gives the following convergence characteristics, I wanted to know if it is correct Updated code { ...
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Converging to better solutions by running RRTstar for multiple Iterations

In the Literature I have read so far, I saw RRT star was running in multiple loops to converge to a better solution ( near optimal). I was wondering how I could implement the same, as most pseudocodes ...
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How can I get the right sample in RRT star Dubins?

I am trying to find a solution in S(1)*R^2 (x,y, orientation) with obstacles (refer to image) using RRT star and Dubins Model. The code takes a lot of time to find a suitable random sample with x,y, ...
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How to plan path for robotic arm with RRT?

I have written simple RRT planner however I am not sure how to apply it to a robotic arm path planning. The issue is that of analytical solution absence to inverse kinematics problem. Let me explain. ...
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How to include a space and robot geometry with OMPL

Let us assume that I am able to create a 3D map (octree) based on information gathered by a Lidar and/or a camera on a quadrotor. Now based on the current 3D representation of the world, I want to go ...
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Do the distance function and steering function in an RRT have to be related?

I am developing an RRT (rapidly exploring random tree) for car-like robots in SE2 space using Dubins steering function and have a question that has implications on the performance of RRTs. In order ...
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Display RRT generated by MoveIt

Hey guys, is there a way to display the RRT generated by MoveIt for motion planning in something like a picture/map/graphical output? I want to see the differences between the MoveIt planners and ...
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Algorithm to pick up moving objects

Hello Everyone, I am a newbie to ROS. I have a task wherein there is a running conveyor belt with objects on it which have to be picked up a Robotic Arm and placed at some other location all with ...
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How to make RRT to work for dynamic systems?

I want to make path planning algorithm for a quadrotor with RRT in my thesis. I have searched lots of articles and come up with the concept of "dynamic RTT" and one of the articles has a title "...
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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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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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3 votes
2 answers
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why is quadrotor motion planning hard?

With introduction of incremental sampling algorithms, like PRM and RRT planning in higher dimensional spaces in reasonable computation time has become possible though it is PSPACE-hard. But why is a ...
boon's user avatar
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4 votes
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How is homotopy used in planning algorithms?

What is an intuitive understanding for homotopy? At what stage is homotopy (I understand it as stretching or bending of path) in a planning algorithm? Is homotopy involved, for example, while ...
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BiRRT: Getting path from an array of 7 DOF angle configurations

I've kind of finished implementing a BiRRT for a 7 DOF arm, using a KD-tree from numpy.spatial in order to get nearest queries. A picture is below: I'm currently having trouble with the fact that it ...
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Package "ompl" does not follow the version conventions

Hi all! I'm trying do implement a base_global_planner plugin with RRT algorithm, for that I'm using the ompl package. The code compiles with no errors, and I followed the steps for registering the ...
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What planners are available in Moveit?

Hi, all, I want to implement a new global path planner for turtlebots with RRTstar or TRRT which are available in OMPL. I have checked Moveit and didn't find .cpp/.h files or infterfaces to RRTstar/ ...
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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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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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15 votes
2 answers
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Does RRT* guarantee asymptotic optimality for a minimum clearance cost metric?

The optimal sampling-based motion planning algorithm $\text{RRT}^*$ (described in this paper) has been shown to yield collision-free paths which converge to the optimal path as planning time increases....
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could ompl deal with mobile manipulation?

dear all, i've finished the object manipulation with the amazing stack arm_navigation. that is, now my robot can grasp objects from a table while the robot base is fixed. however, due to the limited ...
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16 votes
2 answers
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Nearest-neighbor data structure for non-Euclidean configuration space

I'm trying to implement a nearest-neighbor structure for use in an RRT motion planner. In order to do better than a linear brute-force nearest-neighbor search, I'd like to implement something like a ...
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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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