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 yourROBOT_constraint_sampler
plugin. Modify the template provided byROBOT_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