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moveit / moveit_tutorials

A sphinx-based centralized documentation repo for MoveIt
https://moveit.github.io/moveit_tutorials/
BSD 3-Clause "New" or "Revised" License
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Trajopt installation #784

Closed zichunxx closed 1 year ago

zichunxx commented 1 year ago

Description

Hi!

When I was following the tutorial on trajopt, I was confused whether trajopt needed to be installed separately rather than via ros install?

If the former is the case, then it seems that trajopt has a lot of problems with the installation on Ubuntu 20.04, one of which is the openrave installation.

Is there any recommended way to install trajopt without spending time on the openrave installation, which is somewhat outdated in comparison to Ubuntu 20.04 and has problems with some dependencies.

Thanks!

Your environment

welcome[bot] commented 1 year ago

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

simonschmeisser commented 1 year ago

The trajopt planner in MoveIt is currently disabled so you need to enable it and build from source. In it's current state it does not include collision checking. There is an open merge request to improve things slightly.