Re: [ompl-users] cubicles OMPL.app example in ROS

[Ioan S. <is...@gm...>]

Hello Santiago,

What the ros interface for ompl gives you is that it constructs
configuration space representations from the urdf and defines problem
definitions / goals based on constraints messages. Typically this is not in
the context of disassembly planning. I think you can reuse the urdf to
config space defs part, but not the goal definition.

If you are using the arm navigation package, i recommend using ompl
directly and definining a specialized package that does what you need -
instead of ompl ros interface.

It will be easier to reuse things if you plan to use MoveIt, which will be
released in about a month (with ros groovy).

Ioan
On Oct 15, 2012 3:25 PM, "Santiago Vera Rendón" <sv...@us...> wrote:

> Dear OMPL users,
>
> I'm trying understand how OMPL and ros_ompl_interface works.
> I'd like to use ompl for disassembly planning (in ROS if is possible).
>
> I'd like to know how I can do the cubicles example (OMPL.app example) in
> ROS, or something like move a object in a specific environment.
> Anybody could give me some nothions?
>
> Regards
>
>
>
>
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