Is it possible to change the OMPL source code for a new planner to work in V-REP?

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lewispro
Posts: 1
Joined: 28 Sep 2017, 16:32

Is it possible to change the OMPL source code for a new planner to work in V-REP?

Post by lewispro »

I develop motion planning algorithms using ompl and I'm wondering if I can somehow change the v_repExtOMPL plug-in so it runs my own ompl planning algorithms (like replace RRT-Connect, FMT, etc with my own algorithms)?
How should I do this?

So far, I tried recompiling the v_repExtOMPL plugin written by fferri from github (https://github.com/fferri/v_repExtOMPL). This plugin generates the lua bindings for OMPL. I can generate the dylib or dll or dylibso file but when I put it next the the vrep executable and load vrep. V-REP tells me:

Plugin 'OMPL': loading...
this plugin requires at least V-REP 3.4.0 rev9
Initialization failed.
Plugin 'OMPL': load failed (failed initialization).

Since the latest v-rep is only 3.4.0 rev1, I don't know how to solve this.

Thanks!

fferri
Posts: 1193
Joined: 09 Sep 2013, 19:28

Re: Is it possible to change the OMPL source code for a new planner to work in V-REP?

Post by fferri »

I believe you already got an answer here https://github.com/fferri/v_repExtOMPL/issues/3

About the V-REP version, a link to a newer version has been shared in the forum by coppelia.

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