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

[Gil Jones]

Hi Adolfo,

These values are not currently exposed as parameters and should be, and
their behavior should be documented, as they are indeed important aspects of
creating plans (and can be a significant source of consternation if you
aren't expecting them).  I created a ticket here:
https://code.ros.org/trac/wg-ros-pkg/ticket/4730

We are diving into a complete rewrite of ompl_ros in tandem with a complete
rewrite of ompl by our collaborators at Rice, so it's possible you'll have
to wait for a new version to see this.  In the meantime if you do happen to
create a patch in ompl_planning or ompl_ros please attach it to the ticket
and we'll look to incorporate it into the current version.

Thanks,
Gil

--
E. Gil Jones (gjones at willowgarage.com)
Research Engineer
Willow Garage, Inc.
68 Willow Road
Menlo Park, CA 94025
650.475.9772


2010/9/20 Adolfo Rodríguez Tsouroukdissian <
adolfo.rodriguez at pal-robotics.com>

> 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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