orgpmp2

orgpmp2 is a OpenRAVE plugin for GPMP2 (Gaussian Process Motion Planner 2) algorithm described in Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs (RSS 2016). Examples provided for WAM arm and PR2 use python scripts.

orgpmp2 is being developed by Mustafa Mukadam and Jing Dong as part of their work at Georgia Tech Robot Learning Lab and is a modified version of CHOMP openrave plugin.

Compilation & Installation

• Install ROS. We have tested ROS indigo.

• Install OpenRAVE. If you have trouble compiling the original version, please check out and install our fork which has fixed few minor bugs.

• Install GPMP2 core C++ library.

• Install a few additional dependencies

  sudo apt-get install gfortran libgsl0-dev python-enum

• Initialize a catkin workspace (if you use a existing catkin workspace this step is not needed)

  mkdir -p ~/gpmp2_catkin_ws/src
  cd gpmp2_catkin_ws/src
  catkin_init_workspace

• Add orgpmp2, PrPy (python library for OpenRAVE), openrave_catkin (utility package for OpenRAVE) to gpmp2_catkin_ws/src

  git clone https://github.com/gtrll/orgpmp2.git
  git clone https://github.com/personalrobotics/openrave_catkin.git
  git clone https://github.com/personalrobotics/prpy.git

• Compile the catkin workspace

  catkin_make -DCMAKE_BUILD_TYPE=Release

• Before running the examples, the last step is setup the environment variables

  source ~/gpmp2_catkin_ws/devel/setup.bash

Questions & Bug reporting

Please use Github issue tracker to report bugs. For other questions please contact Mustafa Mukadam or Jing Dong.

Citing

If you use orgpmp2 or GPMP2 in an academic context, please cite following publications:

@inproceedings{Dong-RSS-16,
  Author = "Jing Dong and Mustafa Mukadam and Frank Dellaert and Byron Boots",
  booktitle = {Proceedings of Robotics: Science and Systems (RSS-2016)},
  Title = "Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs",
  year = {2016}
}

License

orgpmp2 is released under the GPL license, reproduced in the file license-gpl.txt in this directory.