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

[Adolfo Rodríguez Tsouroukdissian]

On Mon, Sep 20, 2010 at 9:07 PM, Gil Jones <gjones at willowgarage.com> wrote:

> Hi Adolfo,
>
>
Gil,

Thanks for the prompt response and for filing the ticket.


> 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.


Is there a publicly available roadmap of the more relevant changes these
packages will undergo?.
I would be very interested in knowing if and how a planning algorithm can be
specialized. By this I mean, will it be possible to implement say a
variation of RRT that reimplements the "Extend" function, but uses the
default "Sample" one?, or threading even further, reimplement the nearest
neighbor computation of the "Extend" function while retaining the rest of
"Extend"?. I hope you get the picture of what I mean.


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.
>

OK. However, it would be best if I could harmonize the naming convention of
newly exposed parameters with future release specifications (if they already
exist).

Cheers,

Adolfo



> 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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