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1 | initial version |
Here you find some example planner configurations:
http://ros.org/doc/fuerte/api/planning_environment/html/ (scroll down a bit)
And here in the source code you can find the currently available planners via the OMPL ROS interface:
Further than that I have been successfully using the CHOMP planner, which is not part of OMPL.
2 | No.2 Revision |
Here you find some example planner configurations:
http://ros.org/doc/fuerte/api/planning_environment/html/ (scroll down a bit)
And here in the source code you can find the currently available planners via the OMPL ROS interface:interface (look at the private member functions):
Further than that I have been successfully using the CHOMP planner, which is not part of OMPL.
3 | No.3 Revision |
Here you find some example planner configurations:
http://ros.org/doc/fuerte/api/planning_environment/html/ (scroll down a bit)
And here in the source code you can find the currently available planners via the OMPL ROS interface (look at the private member functions):
Further than that I have been successfully using the CHOMP planner, which is not part of OMPL.
/edit:
Albert, regarding your comment: My planner configuration was created automatically by the planning description configuration wizard. The created configuration file looks similar to this one for the pr2. I'm loading those parameters like this:
<node pkg="ompl_ros_interface" type="ompl_ros" name="ompl_planning">
<param name="default_planner_config" type="string" value="SBLkConfig1" />
<rosparam command="load" file="$(find your_robots_arm_navigation_pkg)/config/ompl_planning.yaml" />
</node>
Hope this helps!