search

dominikbelter / ompl_example_2d

Example ROS node which uses ompl library to plan the path of the robot on the 2D occupancy map
8 stars 4 forks source link

Need more information on this example #5

Open Cristian-wp opened 1 year ago

Cristian-wp commented 1 year ago

Hi, first of all thank you a lot to providing this example involving OMPL and ROS2. I have started recently to study OMPL to use it on my drone, and if is possible I would like to have some documentation about this example in order to understand the logic and OMPL as well. Thank you in advance!

dominikbelter commented 1 year ago

Unfortunately, I've got the tutorial that is in Polish only: https://docs.google.com/document/d/1Zp1j4BIlJlPRL5Gi67SoY2-hCmdIZmWeRLGXe-F2gA4/edit?usp=sharing Maybe you will be able to use some tools for translation like DeepL (https://www.deepl.com/en/translator). Regarding OMPL, you should check the official webpage. This is a great library with very good documentation: https://ompl.kavrakilab.org/

Cristian-wp commented 1 year ago

Hi @dominikbelter! Thanks for your material, I will translate it today with some tools. For what concern OMPL I agree with you, but what I am looking for is a "guide" like your code, in order to understand simple examples about OMPL with ROS. For my point of view I think that there are a lot of examples regarding OMPL but are not practical cases like your. Do you have something regarding other OMPL example? like 3D navigation or something else. If you can share them they will very helpfull to me. :)

Cristian-wp commented 1 year ago

@dominikbelter I use your suggested tool https://www.deepl.com/en/translator for translation, and it works very well! Thanks again!

Cristian-wp commented 1 year ago

@dominikbelter I don't want to take advantage of your kindness, but I for what I understood you are teaching in "Poznan University of Technology - Institute of Robotics and Machine Intelligence". If is shareable or public, can I have the material/books/other stuff of your "Methods and Algorithms for Motion Planning" course? I think that will be really helpfull to my projects :)

dominikbelter commented 1 year ago

Hi @Cristian-wp , this is the only example related to the OMPL library that I have. I thought about preparing a book that is focused on practical aspects of path planning but this is my future plan. Are you familiar with Steven Lavalle's book: http://lavalle.pl/planning/ ?

Cristian-wp commented 1 year ago

Hi @dominikbelter thank you a lot for the link! I did not know that book :) But for what concern OMPL do you know where i could find some example working with ROS? For the moment I have found only some papers or articles,the only practical example I found was yours...