## title = The IROS 2011 Tutorial on Motion Planning for Real Robots
## description = This tutorial 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 IROS 2011 Tutorial on Motion Planning for Real Robots

<<TOC(3)>>

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

== Program ==
 * 08:30–09:00 Overview and Introduction
 * 09:00–09:30 Background on concepts in sampling-based motion planning [[attachment:lydia_iros_2011.pdf|SLIDES]]
 * 09:30–10:15 OMPL and OMPL.app [[attachment:ompl_iros_2011.pdf|SLIDES]]
 * 10:45–11:30 Introduction to ROS and connection to OMPL [[attachment:ompl_ros_iros_2011_slides.pdf|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

== Resources ==
 * Tutorial Document ([[attachment:iros2011_ros_ompl_tutorial.pdf|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 [[http://ompl.kavrakilab.org/]]
 * The ompl_ros_interface wikipage [[http://www.ros.org/wiki/ompl_ros_interface]]