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Stomp Smoothing Planning Request Adapter #1081

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raghavendersahdev commented Oct 9, 2018

Addition of STOMP Smoothing Adapter in MoveIt

This PR is work done by Raghavender as a part of 2018 Google summer of code. As a part of this PR, a STOMP Smoothing adapter has been implemented. This enables the user to use STOMP as an additional post processing motion planning algorithm in a pipeline with another motion planner like CHOMP, OMPL, etc. This then produces smooth motion plans.

For tutorials on how to use this motion planning request adapter, refer to PR for a tutorial on Planning Request Adapters PR#220 . This PR also needs this PR in industrial_moveit package to be merged PR#78 in order for the STOMP smoothing adapter to function properly.
It should be noted this PR overrides an older PR #965 , after this PR gets merged PR #965 can be closed and ignored.
@davetcoleman @mamoll

Checklist

  • addition of STOMP smoothing adapter into existing MoveIt Planning Request Adapters
  • merging of the STOMP moveit package from industrial moveit into moveit, this PR overrides this PR #965

@raghavendersahdev raghavendersahdev referenced this pull request Oct 9, 2018

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STOMP Smoothing Adapter #78

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@@ -24,3 +24,7 @@
local-name: srdfdom
uri: https://github.com/ros-planning/srdfdom.git
version: kinetic-devel
- git:
local-name: industrial_moveit
uri: https://github.com/raghavendersahdev/industrial_moveit.git

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davetcoleman Oct 13, 2018

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this needs to be switched to the new stomp repo that is suppose to be created. fyi @gavanderhoorn

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rhaschke commented Oct 24, 2018

Please revert the last merge-commit and rebase your branch onto the kinetic-devel to resolve conflicts.
Having merge-commits within a PR-branch like this, makes it impossible to squash, or cherry-pick it to another branch later on.

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