Search found 673 matches

by fferri
21 Sep 2020, 17:46
Forum: General questions
Topic: How can I compute and get the length of a path planned by OMPL plugin
Replies: 2
Views: 40

Re: How can I compute and get the length of a path planned by OMPL plugin

Perhaps the length of the path projected onto the default euclidean projection would work? function simOMPL.getProjectedPathLength(taskHandle,path) local m=simOMPL.projectionSize(taskHandle) local pathProjection=simOMPL.projectStates(taskHandle,path) local length=0 for i=2,#pathProjection/m do loca...
by fferri
21 Sep 2020, 17:33
Forum: General questions
Topic: How can I compute and get the length of a path planned by OMPL plugin
Replies: 2
Views: 40

Re: How can I compute and get the length of a path planned by OMPL plugin

There is no such function because the state space is customly defined. In general it does not make sense to compute a length between poses, or between angles. You should be able to figure out a "good" length metric on your customly defined state space. What state space are you using? Perhaps the len...
by fferri
12 Sep 2020, 11:31
Forum: General questions
Topic: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin
Replies: 8
Views: 112

Re: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin

Smoothing is already done as part of the path simplification routines.
by fferri
12 Sep 2020, 10:50
Forum: General questions
Topic: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin
Replies: 8
Views: 112

Re: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin

The state space you used (pose2d, equivalent of OMPL SE(2) - rotation and translation in the plane) does not take into account the kinematic constraints of your robot.

Consider using the dubins state space.
by fferri
11 Sep 2020, 15:46
Forum: General questions
Topic: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin
Replies: 8
Views: 112

Re: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin

By the way, for real-world motion panning use cases, you don't want to move the actual robot around. That has at least two problems: it is slow, as the robot is made of several complex meshes OMPL will move the robot around a lot for collision checking, possibly messing up its dynamic representation...
by fferri
11 Sep 2020, 15:35
Forum: General questions
Topic: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin
Replies: 8
Views: 112

Re: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin

I'd create a collection for the robot (i.s. create a new collection, select "Tree of selected objects, incl. base, select 'Pioneer_p3dx' and add it). Then change your setCollisionPairs line to: simOMPL.setCollisionPairs(t,{sim.getCollectionHandle('robot'),sim.handle_all}) also, change robotHandle=si...
by fferri
10 Sep 2020, 09:48
Forum: General questions
Topic: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin
Replies: 8
Views: 112

Re: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin

As per default state validation, invalid state means that your robot is in collision according to the collision pairs specified with simOMPL.setCollisionPairs(...) and the result of sim.checkCollision(...).
by fferri
10 Sep 2020, 09:39
Forum: General questions
Topic: using dummies as model's children
Replies: 1
Views: 33

Re: using dummies as model's children

When adding a model to the scene, and some of its objects' name already exists in the scene, the newer object is renamed (a number at the end of the object name is added or incremented) so that all names are unique. However, if the object is referenced from a child script , then a suffix (e.g.: #1 )...
by fferri
08 Sep 2020, 15:06
Forum: General questions
Topic: Error while trying to publish Pose message
Replies: 3
Views: 45

Re: Error while trying to publish Pose message

The plugin already depends on geometry_msgs package.

I don't know what's going on on your machine. Try starting from scratch on a clean workspace.
by fferri
08 Sep 2020, 14:57
Forum: General questions
Topic: Error while trying to publish Pose message
Replies: 3
Views: 45

Re: Error while trying to publish Pose message

In ROS2 the interface name would be geometry_msgs/msg/Pose