Hi Adolfo,<br><br>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: <a href="https://code.ros.org/trac/wg-ros-pkg/ticket/4730">https://code.ros.org/trac/wg-ros-pkg/ticket/4730</a><br>
<br>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.<br>
<br>Thanks,<br>Gil<br><br>--<br>E. Gil Jones (<a href="mailto:gjones@willowgarage.com" target="_blank">gjones@willowgarage.com</a>)<br>Research Engineer<br>Willow Garage, Inc.<br>68 Willow Road<br>Menlo Park, CA 94025<br>
650.475.9772<br>
<br><br><div class="gmail_quote">2010/9/20 Adolfo Rodríguez Tsouroukdissian <span dir="ltr"><<a href="mailto:adolfo.rodriguez@pal-robotics.com" target="_blank">adolfo.rodriguez@pal-robotics.com</a>></span><br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
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'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.<br>
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.<br>
I'm willing to contribute with patches, but first I'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" target="_blank">http://www.pal-robotics.com</a><br>
Tel. +34.93.414.53.47<br>
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