How to setup TrajOpt Planner in robot package?

asked 2019-02-14 12:45:59 -0600

DieterWuytens gravatar image

Hi, I'm currently working with a robot and i have tried OMPL, CHOMP en STOMP. But now i want to use TrajOpt with the package. The packages necessary for these are here: Tesseract and Trajopt_ros.

Installed these in my catkin workspace and building this is okay. I want to use the examples described in this link.

With CHOMP, OMPL and STOMP i can execute one of the next three options:

roslaunch robot_config demo.launch

roslaunch robot_config demo_chomp.launch

roslaunch robot_config demo_stomp.launch

I'm searching for a launch file for the TrajOpt planner and also a trajopt_planning_pipeline.launch.xml file.

<launch>
   <!-- CHOMP Plugin for MoveIt! -->
   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />

   <arg name="start_state_max_bounds_error" value="0.1" />

   <param name="planning_plugin" value="$(arg planning_plugin)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />

   <param name="collision_detector" value="Hybrid" />

   <rosparam command="load" file="$(find coco_moveit_chomp_config)/config/chomp_planning.yaml" />

</launch>

I'm new to this so i have no idea if this already exists. Is it possible to make this in TrajOpt? I probably also need a config file called trajopt_planning.yaml with some parameters.

Thanks in advance, Dieter

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Comments

I don't believe you can compare trajopt_ros+tesseract with the way MoveIt integrates planners like OMPL and the others.

I doubt what you are looking for is possible right now.

Perhaps @Levi-Armstrong can add something here.

gvdhoorn gravatar image gvdhoorn  ( 2019-02-15 05:18:53 -0600 )edit

Please explain to me how I integrate trajopt in RVIZ/moveit. Because i don't even know how to start up the package "Trajopt_examples". I just want my robot with trajopt planner. Just don't know how to start up and integrate the planner.

DieterWuytens gravatar image DieterWuytens  ( 2019-02-15 12:52:37 -0600 )edit

As I wrote above: as far as I know there is no integration "with MoveIt" available for trajopt at the moment. Or at least not in the way OMPL and the others have been integrated, and with the trajopt_ros/tesseract combo that you refer to.

gvdhoorn gravatar image gvdhoorn  ( 2019-02-16 11:07:34 -0600 )edit

I just want my robot with trajopt planner.

The words "I just" typically are followed by things that are actually rather complex.

Unfortunately trajop_ros+tesseract is complex software currently in development. There's no easy one-click setup or use of it as far as I'm aware. I'd ..

gvdhoorn gravatar image gvdhoorn  ( 2019-02-16 11:16:31 -0600 )edit

.. recommend waiting for Levi to post something here, or post an issue on the tracker of either trajopt_ros or tesseract.

gvdhoorn gravatar image gvdhoorn  ( 2019-02-16 11:16:58 -0600 )edit

But these packages are for ROS? How do i use them in ROS then? Because i want to simulate the trajopt path from start to goal.

DieterWuytens gravatar image DieterWuytens  ( 2019-02-18 13:57:49 -0600 )edit

Yes, they can be used "with ROS", but I must add that "with ROS" means a lot of different things to a lot of different people. In your case I believe you mean "with MoveIt/motion planners", which is not the kind of integration that is currently available.

As to how to use these pkgs right now: ..

gvdhoorn gravatar image gvdhoorn  ( 2019-02-18 14:41:56 -0600 )edit

.. take a look at the trajopt_ros/examples package. That should give you an idea of how to work with trajopt at least.

gvdhoorn gravatar image gvdhoorn  ( 2019-02-18 14:43:20 -0600 )edit
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