/chomp_generator

Primary LanguageC++

CHOMP Generator

This package uses the CHOMP motion planner to generate trajectories in an environment.

Requirements

  • Subscribe to moveit planning scene
    • get robot state
    • get obstacles
  • Generate (n) trajectories from one EE pose to another EE pose
    • Generate trajectory i
    • Add it to the list of avoidance trajectories

Needs:

PlanningSceneMonitor < robot_description
PlanningPipeline pieline < PlanningSceneMonitor

PlannerManaer < PlanningPipeline

for 1 to n:
  pipeline.generatePlan()
end