Exposed planners from latest ompl release. #338
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Awesome, thank you! Can you also add default parameter values for these planners in the Setup Assistant in this PR so that its easier for new users to configure these planners? |
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I would like to, but I honestly have no clue what would be logical settings for most of these parameters, so I don't really know how to go about it. I figured it was perhaps best let to OMPL to select the defaults. Thoughts on how to go about this? |
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In the Setup Assistant defaults, just copy the default already provided in each planner's config. e.g. for FMT you can see its defaults in the constructor This allows users to easily tweak the settings in the future, and keeps the planner setup consistent in MoveIt! |
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I'm working on this but am running into a couple of problems so it might be a couple of days. |
Removed VFRRT. Fixed BFMT typo. Removed problematic planners. Removed LazyLBTRRT due to error with InfSampler.
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For some reason FMT and BFMT are not finding any solutions at the moment, so I need to see where that is coming from, I pretty sure they were working before so not sure what that is about. Also, my clang-format plugin seems to have some problems :( |
Is a parameter set incorrectly in theses defaults? I'm ok merging these new features now and worrying about tweaking individual parameters later.
I'm curious - did you have to manually fix the formatting then? What version are you using? |
I don't think it's a parameter. I tried with an empty configuration but that didn't work either. I'll try to take a better look at it as soon as possible.
I was using clang-format-3.8 but that isn't compatible as demonstrated by #344. As a matter of fact, the formatting changes I saw in the diff of that PR were identical to the ones I was having in my |
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Thanks so much! Please open another PR when you get a chance to look at FMT / BFMT |
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@rbbg: is the 'regular' binary distributed OMPL release (on Kinetic) enough for this, or do we need a source install? |
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@gavanderhoorn the binary should work because Travis passed that uses OMPL from binary |
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Right. Missed that. Thanks. |
Description
This PR exposes the following OMPL planners:
geometric::FMT
geometric::BFMT
geometric::PDST
geometric::STRIDE
geometric::BiTRRT
geometric::LBTRRT
geometric::BiEST
geometric::ProjEST
geometric::LazyPRM
geometric::LazyPRMstar
geometric::SPARS
geometric::SPARStwo
Several other planners are available in OMPL, but from I found those to not work out of the box so some work would be required in integrating those.
To test: I have a forked moveit_resources (over here) that has a ompl_planning.yaml with (parameter-less) configurations for these planners.
Due to the difference in OMPL version between kinetic and jade/indigo, this should not be cherry picked (I think).