Re: [ompl-users] OMPL

[Oliver D. <o.d...@ja...>]

Hi Ioan,

thanks for your response!

I have a few (general) questions regarding OMPL for manipulation usage,
especially as so far, the documentation and examples are mostly aimed
towards rigid body planning.

Could you possible give a (quick) outline of how you would go about creating
a basic manipulation example (eg moving a simple arm from one position to
another without colliding into a known obstacle)? I guess my problem is that
I fail to see how and where exactly rigid body planning overlaps with
manipulation, what OMPL can deal with and what needs to be implemented. I
have looked at the documentation but feel I am lacking the overview.

I found a reference to arm manipulation
here<http://ompl.kavrakilab.org/implementingStateManifolds.html>,
that states how to create a state manifold for a 6dof arm. Where would
define the relationships between each DOF (ie the kinetmatic structure,
min&max joint values, etc)?

A quick overview focused on arm manipulation would be really great!

Thanks in advance,
-Ollie


On 11 March 2011 17:07, <is...@gm...> wrote:

> Hello Oliver,
>
> I believe the ompl_ros_interface package was pushed to the .deb build
> servers a day or two ago. This means you should see the new packages
> already, or very soon.
> The will only be part of unstable & diamondback however; no earlier
> support. The packages are very new, so there may be little issues to deal
> with. The ros-users mailing list will be more appropriate for ROS-specific
> questions.
>
> About tutorials, the answer is always yes :) As to when that will happen, I
> cannot give you a time frame. Feel free to post questions about this, if you
> have any difficulties.
>
> Ioan
>
>
>
> On Mar 11, 2011 9:54am, Oliver Dunkley <o.d...@ja...>
> wrote:
> > Hey guys!
> >
> > I am interested in potentially using OMPL for some robotic
> planning/manipulation tasks. Currently, we use use a ROS + openrave setup,
> but would like to experiment with a ROS + OMPL setup.
> >
> >
> >
> > Of course this would mean having to use/implement lots of the ROS
> manipulation pipeline.
> >
> >
> > I see that the ompl_ros_interface package is upcoming for a release. Do
> you have a rough estimate / time line as to when it will be available?
> >
> >
> >
> > For now I am looking at the new interface through the rosinstall file
> provided (currently ompl_ros_interface will not compile due to mismatching
> function calls).
> >
> >
> >
> >
> >
> > The rigid body planning tutorials are pretty cool! Are there any plans to
> expand the tutorials, eg to include some with a manipulation planning
> orientated direction?
> >
> >
> >
> >
> >
> > Thanks:)
> >
> >
> >
> > -Ollie
>