STOMP MoveIt! Setup

Create the Pipeline Launch File

First, you must already have a moveit_config package that was generated with the MoveIt! Setup Assistant . Once this package is available you can tell the move_group node to load STOMP by creating a stomp_planning_pipeline.launch.xml file as follows:


  <!-- Stomp Plugin for MoveIt! -->
  <arg name="planning_plugin" value="stomp_moveit_interface/StompPlannerManager" />

  <!-- The request adapters (plugins) ORDER MATTERS -->
  <arg name="planning_adapters" value="default_planner_request_adapters/FixWorkspaceBounds
                                       default_planner_request_adapters/FixStartStatePathConstraints" />

  <arg name="start_state_max_bounds_error" value="0.1" />

  <param name="planning_plugin" value="$(arg planning_plugin)" />
  <param name="request_adapters" value="$(arg planning_adapters)" />
  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
  <rosparam command="load" file="$(find test_moveit_config)/config/stomp_planning.yaml"/>


Modify the move_group.launch file

Open the move_group.launch file of your moveit_config package and change the pipeline parameter to "stomp" as shown below:

    <!-- Planning Functionality --> 
    <include ns="move_group" file="$(test_moveit_config)/launch/planning_pipeline.launch.xml">
      <arg name="pipeline" value="stomp" />

Author(s): Jorge Nicho
autogenerated on Sat Jun 8 2019 19:24:01