Custom Constraint Samplers

Note

This tutorial is a stub. If you have the time to help us improve it, please do!

Overview

Some planning problems require more complex or custom constraint samplers for more difficult planning problems. This document explains how to create a custom motion planning constraint sampler for use with MoveIt!.

Getting Started

If you haven’t already done so, make sure you’ve completed the steps in Getting Started.

Creating a constraint sampler

  • Create a ROBOT_moveit_plugins package and within that a sub-folder for your ROBOT_constraint_sampler plugin. Modify the template provided by ROBOT_moveit_plugins/ROBOT_moveit_constraint_sampler_plugin

  • In your ROBOT_moveit_config/launch/move_group.launch file, within the <node name="move_group">, add the parameter:

    <param name="constraint_samplers" value="ROBOT_moveit_constraint_sampler/ROBOTConstraintSamplerAllocator"/>
    
  • Now when you launch move_group, it should default to your new constraint sampler.

Open Source Feedback

See something that needs improvement? Please open a pull request on this GitHub page