Hi,
I would like to use the CHOMP motion planner in MoveIt! for a KUKA lightweight arm (with Groovy). I have fairly limited experience with these tools and the tutorials for using CHOMP are limited to integration in [arm_navigation](http://wiki.ros.org/arm_navigation/Tutorials) and the MoveIt! setup wizard doesn't provide an option for using CHOMP.
If somebody could explain how to modify the according MoveIt! launch files and maybe provide an example I would be grateful.
Thx,
-Robert-
↧