V-rep ompl modification

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vergaros
Posts: 11
Joined: 22 Feb 2015, 12:16

V-rep ompl modification

Post by vergaros » 29 Oct 2019, 02:46

Hi,

I would like to do some personal modifications to the motion planners of ompl.
Is it possible to alter the respective functions (e.g., the compute one ?)

Thanks,
Chris

coppelia
Site Admin
Posts: 7441
Joined: 14 Dec 2012, 00:25

Re: V-rep ompl modification

Post by coppelia » 29 Oct 2019, 13:39

Hello Chris,

yes, you can directly modify the source code of the OMPL plugin located here.

Cheers

vergaros
Posts: 11
Joined: 22 Feb 2015, 12:16

Re: V-rep ompl modification

Post by vergaros » 29 Oct 2019, 15:22

Thanks !

vergaros
Posts: 11
Joined: 22 Feb 2015, 12:16

Re: V-rep ompl modification

Post by vergaros » 11 Nov 2019, 23:33

Hi again,

If I install the latest version of OMPL and appropriately change the plugin file to accommodate for the updates in the several functions, will I be able to run it ? Or are there other things that will need to be changed, too ?

Thanks,
Chris

coppelia
Site Admin
Posts: 7441
Joined: 14 Dec 2012, 00:25

Re: V-rep ompl modification

Post by coppelia » 13 Nov 2019, 16:50

I think you should be fine

Cheers

vergaros
Posts: 11
Joined: 22 Feb 2015, 12:16

Re: V-rep ompl modification

Post by vergaros » 20 Nov 2019, 00:42

Hi again,

I accidentally deleted some parts of the ompl plugin and tried to download it again.
However, this https://github.com/CoppeliaRobotics/simExtOMPL seems to have changed since I first downloaded it. In particular, it looks like it requires a 4.0.0.0 version (which does not exist) and several names have been changed from v_rep to sim (or CoppeliaSim or sth like that). I tried installing it on V-REP 3.6.2 but it doesn't work (missing files or names being still v_rep instead of sim). Is there a workaround ?

Actually, I tried to look on github for previous commits to find the previous version of the plugin but many files have been deleted.
For instance, is there a way to get these: https://github.com/CoppeliaRobotics/sim ... 8/external ?

Thanks,
Chris

fferri
Posts: 422
Joined: 09 Sep 2013, 19:28

Re: V-rep ompl modification

Post by fferri » 20 Nov 2019, 09:51

You can checkout the previous version with:

Code: Select all

git checkout 8bcaab44
git submodule init
git submodule update
Cheers

vergaros
Posts: 11
Joined: 22 Feb 2015, 12:16

Re: V-rep ompl modification

Post by vergaros » 21 Nov 2019, 04:57

Thanks.

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