[ros-users] Tolerances used by motion planners to compare states

[Adolfo Rodríguez Tsouroukdissian]

Hello all,

When using the ompl motion planners, tolerances are used to compare states
(e.g., whether the start and goal states are the same). I'm interested in
setting these values using the ROS API/configuration files, but I'm not sure
exactly where to do that, or whether it's currently possible (is it?). I
don't mind if these are set explicitly or indirectly through something like
abs(MaxValue - MinValue)/divisions.
On a related topic, I have noticed that ompl planners try to "fix" start or
goal states when they are invalid by finding a "close-but-valid" neighbor.
As of revision 44809, these values are hardcoded [1]. It would be really
nice if these values were configurable (and documented!) as well.
I'm willing to contribute with patches, but first I'd like to ask which of
these points have been already addressed.

[1] motion_planners/ompl_planning/src/request_handler/RequestHandler.cpp,
lines 245-6

TIA,

Adolfo


-- 
Adolfo Rodríguez Tsouroukdissian, Ph. D.

Robotics engineer
PAL ROBOTICS S.L
http://www.pal-robotics.com
Tel. +34.93.414.53.47
Fax.+34.93.209.11.09
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