<> <> This is the ROS interface to the OMPL motion planning package. This package will allow you to easily create and configure a motion planner for your robot. Most configuration is automated, however you will have to specify the parts of the robot for which you want to create a motion planner. You can also define the planner in a "task" space by defining your own instance of a state transformation function that will convert back and forth between the task and configuration space of the robot. == Ompl Ros Interface == === Installation === ==== ROS Electric ==== To install this package, you will have to install the ''arm_navigation'' stack: {{{ sudo apt-get install ros-electric-arm-navigation}}} === Documentation and Tutorials === Examples for how to setup and configure motion planners for your robot can be found in the accompanying [[ompl_ros_interface/Tutorials|tutorials]]. === Videos === Coming soon. === Example (In simulation) === A quick example for use with the PR2 robot in simulation (Gazebo) can be found in the [[http://www.ros.org/wiki/pr2_simulator/Tutorials/SimpleGraspingDemo|PR2 pick and place demo]] in Gazebo. Follow the instructions on that page to see ompl_ros_interface in action. === Example (On the PR2 Robot) === The tabletop manipulation stacks in diamondback now use the ompl_ros_interface for planning using OMPL. To run these stacks on the PR2 robot, try the tabletop manipulation demo [[http://www.ros.org/wiki/pr2_pick_and_place_demos/Tutorials/The%20Pick%20and%20Place%20Autonomous%20Demo|following these instructions]]. ## AUTOGENERATED DON'T DELETE ## CategoryPackage