sjahr / stomp_moveit

STOMP support for MoveIt - ROS 2

stomp_moveit

Note: This package is WIP and not feature complete! See Open TODOs for more info.

STOMP Planner plugin for MoveIt ROS 2.

Build

Clone this package and stomp into src directory of your workspace COLCON_WS and install dependencies by running:

cd $COLCON_WS/src
git clone https://github.com/henningkayser/stomp_moveit
vcs import < stomp_moveit/stomp_moveit.repos
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO

Compile and source your workspace:

cd $COLCON_WS
colcon build
source install/setup.bash

Setup

Configure a STOMP planning pipeline by adding a pipeline entry "stomp" to your MoveIt config here. Add a stomp_planning.yaml like below to your config path:

planning_plugin: stomp_moveit/StompPlanner
request_adapters: >-
  default_planner_request_adapters/AddTimeOptimalParameterization
  default_planner_request_adapters/FixWorkspaceBounds
  default_planner_request_adapters/FixStartStateBounds
  default_planner_request_adapters/FixStartStateCollision
  default_planner_request_adapters/FixStartStatePathConstraints

With this you should now be able to select STOMP as your planning pipeline using the RViZ MotionPlanningPanel or your application. Alternatively, you can run the demo node using ros2 launch stomp_moveit stomp_moveit_example.launch.py.