Is it possible to use ompl **control-based** planners within moveit for universal robots? If it is, please direct me to some kind of example.
I used integrated geometric examples, and configured [ompl_planning.yaml](https://github.com/ros-industrial/universal_robot/blob/kinetic-devel/ur10_moveit_config/config/ompl_planning.yaml) adding:
RRTControl:
type: control::RRT
KPIECEControl:
type: control::KPIECE1
In [planning context_manager.cpp](https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp) (moveit is built from source) I included:
# include
# include
and also registered planners with:
registerPlannerAllocator("control::RRT", boost::bind(&allocatePlanner, _1, _2, _3));
registerPlannerAllocator("control::KPIECE1", boost::bind(&allocatePlanner, _1, _2, _3));
In [model_based_planning_context.h](https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h) I added following:
namespace oc = ompl::control;
I get the following errors:
ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp:132:43: error: no matching function for call to ‘ompl::control::RRT::RRT(const SpaceInformationPtr&)’
I don't understand because there is constructor in /ompl/control/planners/src/RRT.cpp
Thank you in advance.
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