[ompl-users] Planning for a 6DOF industrial robot

[Tobias B. <tob...@gm...>]

Hi there

I'm trying to plan for a 6DOF industrial robot and I'm using bare-metal
ompl for planning, bullet for collision detection and OpenSceneGraph for
drawing.
So far I've loaded the collision meshes, chained them together using OSG
and drawn them. After applying the joint angles to OSG I'm calling into
OSG to get the matrices for the meshes and set them in bullet and draw
the debug collision volumes. I have also implemented a keyboard handler
in OSG so I can rotate every joint by ±1° and check (with the current
states) if there's a collision against another object (or with itself)
in the scene by pressing a button. All of that works pretty good.

Now I want to plan a motion from one state to another. I've used the
example from the "Optimal Planning" tutorial but with a
RealVectorStateSpace(6), I've implemented isValid() to check each state
if there's a collision and return true if there is none. Most of the
time the results I'm getting are two states, the start and goal state as
a result and no states in between.

Am I on the wrong path completely? Sadly there are, to my knowlege, no
tutorials or demos on how to handle a 6DOF industrial robot. There's
only suggestions to use MoveIt.

What do I need to do?
Do I need forward/inverse kinematics? Currently OSG is handling the
forward kinematics and I don't think I need inverse kinematics because I
want to plan in joint space
Is geometric planning the wrong way? Better use control?

I'm pretty stuck here and hope someone can shed some light

Cheers,

Tobias

P.S.: I've tried a number of (geometric) planners, with the same result,
more or less