## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(chomp_motion_planner)>>

This package implements the motion planner interface that the move_arm package requires. This interface is described in detail in the [[move_arm/Tutorials|arm navigation tutorials]]. To use CHOMP, simply launch the pr2_arm_navigation_planning/launch/chomp_planning.launch file instead of any of the other planners.

== Video ==
<<Youtube(6aZThRpmr58)>>

== ROS API ==
 * ROS API is UNREVIEWED and UNSTABLE
 * C++ API is UNREVIEWED and UNSTABLE
 * This planner has currently been configured and tested only for the PR2 right arm. Testing and release for other robots is on the roadmap.
 * This planner cannot deal with path constraints

== Tutorials ==
To check out tutorials for this package, just follow the general set of Tutorials on the [[arm_navigation/Tutorials|arm navigation tutorials]] page. Replace the launch file for OMPL with the launch file for CHOMP (the launch file for CHOMP can be found in pr2_arm_navigation_planning/launch).

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