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Package Summary
CHOMP is a motion planner based on trajectory optimization. It generates smooth, collision-free trajectories. For technical, algorithmic details, please refer to: "CHOMP: Gradient Optimization Techniques for Efficient Motion Planning". Nathan Ratliff, Matthew Zucker, J. Andrew Bagnell and Siddhartha Srinivasa. IEEE International Conference on Robotics and Automation, May 2009.
- Author: Mrinal Kalakrishnan / [email protected]
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/motion_planners/tags/motion_planners-0.3.10
Package Summary
CHOMP is a motion planner based on trajectory optimization. It generates smooth, collision-free trajectories. For technical, algorithmic details, please refer to: "CHOMP: Gradient Optimization Techniques for Efficient Motion Planning". Nathan Ratliff, Matthew Zucker, J. Andrew Bagnell and Siddhartha Srinivasa. IEEE International Conference on Robotics and Automation, May 2009.
- Author: Mrinal Kalakrishnan / [email protected]
- License: BSD
- Source: hg https://kforge.ros.org/armnavigation/experimental (branch: electric_patches)
arm_navigation_experimental: arm_navigation_experimental_tools | chomp_motion_planner | collider | collision_free_arm_trajectory_controller | collision_proximity | collision_proximity_planner | distance_field | head_monitor_msgs | interpolated_ik_motion_planner | move_arm_head_monitor | move_arm_warehouse | trajectory_execution_monitor
Package Summary
CHOMP is a motion planner based on trajectory optimization. It generates smooth, collision-free trajectories. For technical, algorithmic details, please refer to: "CHOMP: Gradient Optimization Techniques for Efficient Motion Planning". Nathan Ratliff, Matthew Zucker, J. Andrew Bagnell and Siddhartha Srinivasa. IEEE International Conference on Robotics and Automation, May 2009.
- Author: Mrinal Kalakrishnan / [email protected]
- License: BSD
- Source: hg https://kforge.ros.org/armnavigation/experimental (branch: default)
Package Summary
chomp_motion_planner
- Author: Gil Jones
- License: BSD
- Source: git https://github.com/ros-planning/moveit_planners.git (branch: groovy-devel)
Package Summary
chomp_motion_planner
- Author: Gil Jones
- License: BSD
- Source: git https://github.com/ros-planning/moveit_planners.git (branch: hydro-devel)
Package Summary
chomp_motion_planner
- Maintainer status: developed
- Maintainer: Chittaranjan Srinivas Swaminathan <chitt AT live DOT in>, MoveIt! Release Team <moveit_releasers AT googlegroups DOT com>
- Author: Gil Jones <gjones AT willowgarage DOT com>, Mrinal Kalakrishnan <mail AT mrinal DOT net>
- License: BSD
- Source: git https://github.com/ros-planning/moveit.git (branch: indigo-devel)
Package Summary
chomp_motion_planner
- Maintainer status: developed
- Maintainer: Chittaranjan Srinivas Swaminathan <chitt AT live DOT in>
- Author: Gil Jones <gjones AT willowgarage DOT com>
- License: BSD
- Source: git https://github.com/ros-planning/moveit.git (branch: jade-devel)
Package Summary
chomp_motion_planner
- Maintainer status: developed
- Maintainer: Chittaranjan Srinivas Swaminathan <chitt AT live DOT in>, MoveIt! Release Team <moveit_releasers AT googlegroups DOT com>
- Author: Gil Jones <gjones AT willowgarage DOT com>, Mrinal Kalakrishnan <mail AT mrinal DOT net>
- License: BSD
- Source: git https://github.com/ros-planning/moveit.git (branch: kinetic-devel)
Package Summary
chomp_motion_planner
- Maintainer status: developed
- Maintainer: Chittaranjan Srinivas Swaminathan <chitt AT live DOT in>, MoveIt! Release Team <moveit_releasers AT googlegroups DOT com>
- Author: Gil Jones <gjones AT willowgarage DOT com>, Mrinal Kalakrishnan <mail AT mrinal DOT net>
- License: BSD
- Source: git https://github.com/ros-planning/moveit.git (branch: kinetic-devel)
Package Summary
chomp_motion_planner
- Maintainer status: maintained
- Maintainer: Chittaranjan Srinivas Swaminathan <chitt AT live DOT in>, MoveIt Release Team <moveit_releasers AT googlegroups DOT com>
- Author: Gil Jones <gjones AT willowgarage DOT com>, Mrinal Kalakrishnan <mail AT mrinal DOT net>
- License: BSD
- Source: git https://github.com/ros-planning/moveit.git (branch: noetic-devel)
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).
