STOMP MoveIt! examples

Table of Contents

• Plan with STOMP through MoveIt!
• STOMP Configuration
• STOMP Plugins
  • Noise Generator Plugin Configuration
  • Cost Function Plugins Configuration
  • Noisy Filters Plugins Configuration
  • Update Filters Plugins Configuration

Plan with STOMP through MoveIt!

• STOMP MoveIt! Setup

STOMP Configuration

• STOMP Yaml file

STOMP Plugins

Noise Generator Plugin Configuration

Adds random noise onto the trajectory in order to explore the workspace. Only one can be loaded

• NormalDistributionSampling

Cost Function Plugins Configuration

Evaluate the state costs of each noisy trajectory. The plugins are applied from top to bottom as listed in the stomp yaml file.

• CollisionCheck
• ObstacleDistanceGradient

Noisy Filters Plugins Configuration

Apply various filtering methods to the noisy trajectories. The plugins are applied from top to bottom as listed in the stomp yaml file.

• JointLimits
• MultiTrajectoryVisualization

Update Filters Plugins Configuration

Apply various filtering methods to the update values that will be used in improving the current trajectory. The plugins are applied from top to bottom as listed in the stomp yaml file.

• ControlCostProjectionMatrix
• PolynomialSmoother
• TrajectoryVisualization
• UpdateLogger