search

moveit / moveit2

:robot: MoveIt for ROS 2
https://moveit.ai/
BSD 3-Clause "New" or "Revised" License
1k stars 498 forks source link

Add ST-RRT* Planner to MoveIt #1637

Open swiz23 opened 1 year ago

swiz23 commented 1 year ago

Is your feature request related to a problem? Please describe. Currently, the ST-RRT planner (added into ompl 9 months ago) is not yet integrated into the moveit_planners_ompl package. According to https://vhartmann.com/strrt/, this planner outperforms both RRT-Connect and RRT on initial solution time and attained final solution cost. As a result, I think it would be advantageous to have this planner integrated with MoveIt.

Describe the solution you'd like ST-RRT* planner integrated into moveit_planners_ompl.

Describe alternatives you've considered N/A

Additional context N/A

henningkayser commented 1 year ago

Enabling an OMPL planner should be as easy as adding an entry to this function and providing a planner config entry. Have you tried this yet? Looks promising, at least for dynamic planning problems (Hybrid Planning?).

swiz23 commented 1 year ago

@henningkayser,

Yes, I've tried that, but I get an error message printed out from here that state space needs to be of type SpaceTimeStateSpace.