Planner of MoveIt!

[Sergej W.]

Hey guys,

I have impelemnt a System for our self-developed robot in my master thesis with MoveIt!.

We plan a path for a 6 joint robotarm.

So far it works.

But i have a interesting questung:

MoveIt! use the OMPL-Library to plan a path.

But wich planner used OMPL to plan a path?

Are there some defaults planer active?

At the Website are many planner listed.

Best regards

Sergej

[Mark Moll]

OMPL uses the following logic to select a default planning algorithm (http://ompl.kavrakilab.org/planners.html):

How OMPL selects a geometric planner
If you use the ompl::geometric::SimpleSetup class (highly recommended) to define and solve your motion planning problem, then OMPL will automatically select an appropriate planner (unless you have explicitly specified one). If the state space has a default projection (which is going to be the case if you use any of the built-in state spaces), then it will use LBKPIECE if a bidirectional planner can be used and otherwise it will use KPIECE. These planners have been shown to work well consistently across many real-world motion planning problems, which is why these planners are the default choice. In case the state space has no default projection, RRTConnect or regular RRT will be used, depending on whether a bidirectional planner can be used. The notion of a goal is very general in OMPL: it may not even be possible to sample a state that satisfies the goal, in which case OMPL cannot grow a second tree at a goal state.

This is done by calling ompl::tools::getDefaultPlanner(const base::GoalPtr &goal).

Mark

[Dave Coleman]

Sergej would you mind adding your findings, e.g. Mark Moll's explanation, to the OMPL tutorial?

http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/ompl_interface_tutorial.html

- dave

[Manuel Rodriguez]

Am Mittwoch, 7. September 2016 21:08:17 UTC+2 schrieb Sergej W.:

But wich planner used OMPL to plan a path?

OMPL uses high-level planner like T-Rex (NASA) and PlanRob (WillowGarage) for planning.