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From: <cam...@be...> - 2012-07-02 03:52:08
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Hi Mike, Thanks for your interest in Lightning! Most of the code doesn't assume that a PR2 arm is being used, so in theory there should be too many changes that are needed. I believe the changes that will need to be made are making the PlanTrajectoryWrapper in $(find lightning)/src/tools/PathTools.py call your planner and making the current collision checker (see $(find lightning)/src/tools/collision_checker.cpp) call your collision checker. Since Lightning retrieves multiple paths from the path library, it does do collision checking on those paths in parallel, so it may be difficult to get that to work with your collision checker (depending on how your checker works). Lightning can do this part serially, so it may be good to start from there. I haven't worked with the full PR2 body before, so unfortunately I can't be sure that the listed changes will suffice, but if you are willing to take a little time to try to make those changes, then I will happy to help you out as you do that. Let me know if you would like to keep going with this and I can list out some more specifics about the changes you will need to make. Thanks, Cameron > I am interested in trying out your Lightning package. It seems to be > set up for single arm planning for the PR2 but unfortunately, I have a > different domain (full body planning for the PR2). How difficult do > you think it would be to modify your planner to handle this different > state space? I already have it working with OMPL by itself (I've > defined the proper state space and have a collision checker) however I > did this without the use of ompl_ros_interface. > > Thanks! > -Mike- > > ------------------------------------------------------------------------------ > Live Security Virtual Conference > Exclusive live event will cover all the ways today's security and > threat landscape has changed and how IT managers can respond. Discussions > will include endpoint security, mobile security and the latest in malware > threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ > _______________________________________________ > LightningROS-users mailing list > Lig...@li... > https://lists.sourceforge.net/lists/listinfo/lightningros-users > |
