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stomp_ros

Build

  • Build the workspace:
    • Cd into the catkin workspace directory and type the following command:
catkin build

Unit Test

Cd into the catkin workspace directory and type the following command:

catkin run_tests
  • Run the stomp_core unit tests:
catkin run_tests stomp_core

Seeding Stomp

The STOMP planner works through optimization: it starts with a given trajectory, called the seed, and iteratively attempts to improve it. This seed is set:

  1. By default, it is set to the joint interpolated path between the start and end joint configurations.
  2. If you wish, you can set your own seed trajectory.

The StompPlanner class works off of the moveit_msgs/MotionPlanRequest message type which does not provide an interface for seeds. Until that is added, we bastardize the unused MotionPlanRequest::trajectory_constraints field to serve this purpose. Use the StompPlanner::encodeSeedTrajectory(const trajectory_msgs::JointTrajectory& seed) static function to do this:

StompPlanner planner = makeStompPlanner(); // However you initialize
planning_interface::MotionPlanRequest request;

// set your nominal goals, start conditions, etc...

trajectory_msgs::JointTrajectory seed_traj; // Look up your seed traj
request.trajectory_constraints = StompPlanner::encodeSeedTrajectory(seed_traj);

// Call the planning service or the planner itself
planner.setMotionPlanRequest(request)

MotionPlanResponse res;
planner.solve(res);

There is no current way to set this through the MoveGroupInterface class.