The IROS 2011 Tutorial on Motion Planning for Real Robots


  • Sachin Chitta, Gil Jones, Willow Garage Inc.
  • Lydia Kavraki, Mark Moll, Ioan Sucan, Rice University


  • 08:30–09:00 Overview and Introduction
  • 09:00–09:30 Background on concepts in sampling-based motion planning SLIDES

  • 09:30–10:15 OMPL and SLIDES

  • 10:45–11:30 Introduction to ROS and connection to OMPL SLIDES

  • 11:30–12:00 Overview of the simulation environment
  • 13:30–15:00 Hands-on programming, part I
  • 15:30–17:00 Hands-on programming, part II


  • Tutorial Document (PDF)

    • This is the actual tutorial presented at IROS 2011. It runs you through the steps in going from a URDF to a full set of launch and configuration files that you can use to run motion planning and kinematics on your own robot.
  • The OMPL website

  • The ompl_ros_interface wikipage

Wiki: arm_navigation/Tutorials/IROS2011 (last edited 2014-03-28 15:10:34 by JimmyKizito)