moveit ompl

[angelbeibei]

Hi,
I want to modify the OMPL algorithm for motion planning in this simulation, but I didn't find the file about installing ompl when I installed the simulation. Can you help me with this? Thank you

[v-lopez]

TIAGo uses MoveIt for motion planning, which uses OMPL library.

On this package we only have a configuration file for the planners: https://github.com/pal-robotics/tiago_moveit_config/blob/kinetic-devel/config/ompl_planning.yaml

If you want to modify the algorithm itself, you clone and modify OMPL and maybe MoveIt!

[angelbeibei]

Hi ,
ROS:kinetic.
thank you for your reply, I have another question.When i run the command "roslaunch tiago_moveit_config demo.launch" .It will have the following questions

while processing home/tiago_public_ws/src/tiago_moveit_config/launch/planning_context.launch:
arg 'multi' is not defined.

Arg xml is
The traceback for the exception was written to the log file

[v-lopez]

There was a mistake on our side, it's been fixed here: 7a43473

[angelbeibei]

Hi,
but when i run the command" roslaunch tiago_moveit_config demo.launch",
there is another problem. As follow,
included file [/home/tiago_public_ws/src/tiago_moveit_config/launch/planning_context.launch] requires the 'robot' arg to be set
And i also tried the command"roslaunch tiago_moveit_config demo.launch robot:=titanium"
Thank you.