## V-rep ompl modification

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

### V-rep ompl modification

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
Posts: 7925
Joined: 14 Dec 2012, 00:25

### Re: V-rep ompl modification

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

Thanks !

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

### Re: V-rep ompl modification

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
Posts: 7925
Joined: 14 Dec 2012, 00:25

### Re: V-rep ompl modification

I think you should be fine

Cheers

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

### Re: V-rep ompl modification

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: 625
Joined: 09 Sep 2013, 19:28

### Re: V-rep ompl modification

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

Thanks.