Re: [ompl-users] HCIK

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

Hello Nic,

That is a bug in one of our planners. It has been fixed a while ago, but  
the fix is not yet in the distributed ROS package. The new version of ROS  
(coming very soon) will include the fix.
In the meantime, what you can do is make sure you have a source checkout of  
the motion_planners stack and comment out a bit of code in this file:

motion_planners/ompl/include/ompl/kinematic/planners/kpiece/src/KPIECE1.cpp
/*
if (approxsol)
{
si->copyState(xstate, approxsol->state);
m_msg.debug("Start Running HCIK (%f)...", improveValue);
if (!m_hcik.tryToImprove(xstate, improveValue))
{
m_sCore->sampleNear(xstate, existing->state, range);
improveValue /= 2.0;
}
m_msg.debug("End Running HCIK");
}
else
*/

Please let me know if you need further help.

Ioan

On Feb 22, 2011 5:52am, "Dirkx, NJ" <nj...@st...> wrote:
> Hi there



> I am using OMPL in combination with ROS, for a 7DOF robotic arm.

> Pretty often, when i send a pose goal for the arm, it seems that the  
> KPIECE path planner enters a certain infinite 'debug' loop, after which  
> it needs to be shut down.

> This is the output printed to the screen:



> "Selected motion planner: 'kinematic::KPIECE[KPIECEkConfig2r]', with  
> priority 4

> ompl planning for group right_arm

> Info: KPIECE1: Starting with 1 states

> Debug: Start Running HCIK (0.00000)...

> Debug: End Running HCIK

> Debug: Start Running HCIK (0.00000)...

> Debug: End Running HCIK

> Debug: Start Running HCIK (0.00000)...

> Debug: End Running HCIK

> Debug: Start Running HCIK (0.00000)...

> Debug: End Running HCIK"

> ... and so forth



> Does anyone know what this might be?



> Nic

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