Hello all,<br><br>When using the ompl motion planners, tolerances are used to compare states (e.g., whether the start and goal states are the same). I&#39;m interested in setting these values using the ROS API/configuration files, but I&#39;m not sure exactly where to do that, or whether it&#39;s currently possible (is it?). I don&#39;t mind if these are set explicitly or indirectly through something like abs(MaxValue - MinValue)/divisions.<br>
On a related topic, I have noticed that ompl planners try to &quot;fix&quot; start or goal states when they are invalid by finding a &quot;close-but-valid&quot; neighbor. As of revision 44809, these values are hardcoded [1]. It would be really nice if these values were configurable (and documented!) as well.<br>
I&#39;m willing to contribute with patches, but first I&#39;d like to ask which of these points have been already addressed.<br><br>[1] motion_planners/ompl_planning/src/request_handler/RequestHandler.cpp, lines 245-6<br>
<br>TIA,<br><br>Adolfo<br><br clear="all"><br>-- <br>Adolfo Rodríguez Tsouroukdissian, Ph. D.<br><br>Robotics engineer<br>PAL ROBOTICS S.L<br><a href="http://www.pal-robotics.com">http://www.pal-robotics.com</a><br>Tel. +34.93.414.53.47<br>
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