STOMP smoothing adapter as post presuccesor of OMPL does not work

ros-industrial / stomp_ros

ROS packages for the STOMP planner (split out of industrial_moveit)

Apache License 2.0

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STOMP smoothing adapter as post presuccesor of OMPL does not work #15

Closed jaytjoa closed 4 years ago

jaytjoa commented 4 years ago

Hi! I have implemented the planning adapter by using OMPL before STOMP but somehow there is an error in console

Exception while loading planning adapter plugin 'stomp/SmoothingAdapter': According to the loaded plugin descriptions the class stomp/SmoothingAdapter with base class type planning_request_adapter::PlanningRequestAdapter does not exist.

I have followed the step in the moveit tutorial and my distro is kinetic in linux 16.04.

Any solution for this issue?

marip8 commented 4 years ago

@jaytjoa this is currently being addressed in #7. It looks like there is a (potentially working) branch with the changes requested in the pull request here

jrgnicho commented 4 years ago

fixed in #20

iskandersauma commented 4 years ago

There is a problem with the adapter still. from what I understand fillTrajectory that is described in the moveit page does not exist hence we are forced to use other initialization methods such as linear interpolation.