chomp_motion

See chomp_motion_planner on index.ros.org for more info including aything ROS 2 related.

This package implements the motion planner interface that the move_arm package requires. This interface is described in detail in the arm navigation tutorials. To use CHOMP, simply launch the pr2_arm_navigation_planning/launch/chomp_planning.launch file instead of any of the other planners.

Video

ROS API

ROS API is UNREVIEWED and UNSTABLE
C++ API is UNREVIEWED and UNSTABLE
This planner has currently been configured and tested only for the PR2 right arm. Testing and release for other robots is on the roadmap.
This planner cannot deal with path constraints

Tutorials

To check out tutorials for this package, just follow the general set of Tutorials on the arm navigation tutorials page. Replace the launch file for OMPL with the launch file for CHOMP (the launch file for CHOMP can be found in pr2_arm_navigation_planning/launch).