arm_navigation: arm_kinematics_constraint_aware | arm_navigation_msgs | collision_map | collision_space | constraint_aware_spline_smoother | geometric_shapes | joint_normalization_filters | kinematics_base | kinematics_msgs | mapping_rviz_plugin | motion_planning_rviz_plugin | move_arm | ompl | ompl_ros_interface | planning_environment | planning_models | robot_self_filter | sbpl | spline_smoother | trajectory_filter_server
Package Summary
A library of sampling-based motion planning algorithms
- Author: Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
- License: BSD
- Repository: wg-kforge
- Source: hg https://kforge.ros.org/armnavigation/armnavigation
This page refers to the newest release of OMPL. The new OMPL package is integrated with a new ROS interface in the ompl_ros_interface package. These packages have been released and can be used from the electric release of ROS.
Installation
From debians
To install OMPL and the associated ompl_ros_interface package, you will need to install the arm_navigation stack. For installation from debians, use the following command:
sudo apt-get install ros-electric-arm-navigation
Documentation
For documentation and tutorials on configuring motion planners for robot arms or mobile manipulation systems, use the ompl_ros_interface package which allows easy configuration through YAML. The tutorials for that package will walk you through the steps in configuring the motion planners for your robot.
For documentation and tutorials on OMPL itself, check out the OMPL page.
Overview
ompl (Open Motion Planning Library) is a free (BSD license) sampling-based motion planning library intended to serve as a framework for motion planners used in ROS. Currently, many of the established algorithms are already implemented (RRT, EST, SBL). Lazy implementations and parallelized versions (multi-core) are also available.
The interface new motion planners have to implement is very simple: a solve() function and a clear() function. This is intentional, so that other researchers can easily add their code to this library. If you would like to add your motion planner to ompl, please contact the author.
API documentation on how to use this library is available here.
A ROS interface to this library is in the ompl_ros package. Other nodes that use this library are ompl_search and ompl_planning.
Video
ROS API
- The ROS API is UNREVIEWED and UNSTABLE
- The C++ API is UNREVIEWED and UNSTABLE
This page refers to the newest release of OMPL. The new OMPL package is integrated with a new ROS interface in the ompl_ros_interface package. These packages have been released and can be used from the Diamondback release of ROS.
Documentation
For documentation and tutorials on configuring motion planners for robot arms or mobile manipulation systems, use the ompl_ros_interface package which allows easy configuration through YAML. The tutorials for that package will walk you through the steps in configuring the motion planners for your robot.
For documentation and tutorials on OMPL itself, check out the OMPL page.