I am in a similar situation, I would like to be able to use STOMP in Foxy. By modifying moveit_planners could it work directly or does it require modifications in other parts of the repository?

I am in a similar situation, I would like to be able to use STOMP in Foxy. By modifying moveit_planners could it work directly or does it require modifications in other parts of the repository?

Modifying moveit_planners worked for me. However, I was not able to plan under orientation constraints since it reached one of the stop conditions (mainly num_iterations). In the previous generation of ROS (ROS1 Noetic), I worked with a custom noise generator which was able to fulfill my requirements for planning under constraints. Sadly, this is not possible (or I do not know how) in ROS2 using rebuilt STOMP.

I have cherry-picked all the commits from the main regarding MoveIt2 - https://github.com/Jakubivan/moveit2/tree/ivan/humble-w-stomp to my Humble branch.

In moveit config package, add file stomp_planning.yaml with the keys:

planning_plugin: stomp_moveit/StompPlanner
request_adapters: >-
  default_planner_request_adapters/AddTimeOptimalParameterization
  default_planner_request_adapters/ResolveConstraintFrames
  default_planner_request_adapters/FixWorkspaceBounds
  default_planner_request_adapters/FixStartStateBounds
  default_planner_request_adapters/FixStartStateCollision
  default_planner_request_adapters/FixStartStatePathConstraints


num_timesteps: 40
num_iterations: 10000
num_iterations_after_valid: 0
num_rollouts: 15
max_rollouts: 25
exponentiated_cost_sensitivity: 0.4
control_cost_weight: 0.1
delta_t: 0.1
path_marker_topic: 'path_marker'

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

Hi @Jakubivan
I'm also using MoveIt Humble and i also wanted to use the planner stomp in this moveit.
So you basically just had to copy the folder stomp from: https://github.com/moveit/moveit2/tree/main/moveit_planners/stomp
and paste it in the folder: moveit_planners from your moveit2 workspace (which in my case is the path: ws_moveit2/src/moveit2/moveit_planners)?
After that you just did colcon build of the workspace and the moveit is already configured with this planner? And if so didn´t you had to change anything else from that workspace? Such as other files?
Regards
António Matos

Hi @Jakubivan I'm also using MoveIt Humble and i also wanted to use the planner stomp in this moveit. So you basically just had to copy the folder stomp from: https://github.com/moveit/moveit2/tree/main/moveit_planners/stomp and paste it in the folder: moveit_planners from your moveit2 workspace (which in my case is the path: ws_moveit2/src/moveit2/moveit_planners)? After that you just did colcon build of the workspace and the moveit is already configured with this planner? And if so didn´t you had to change anything else from that workspace? Such as other files? Regards António Matos

Sorry for the late response, I had rough past weeks. In short, you are right. I created a custom branch in my forked repo from the original one, see https://github.com/Jakubivan/moveit2/tree/ivan/humble-w-stomp

Hi @Jakubivan. I noticed that the changes that you made in that: https://github.com/Jakubivan/moveit2/tree/ivan/humble-w-stomp was the addition of the file stomp in the package moveit_planners but you also added the file: stomp_planning.yaml to the package: moveit2/moveit_configs_utils/default_configs. Right now i have the humble branch provided in here: https://moveit.ros.org/install-moveit2/binary/ using the line code: sudo apt install ros-humble-moveit and also the moveit2_tutorials package: git clone --branch humble https://github.com/ros-planning/moveit2_tutorials from: https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html I wanted to know if the only difference between the branch that i have and the custom branch that you create in here: https://github.com/Jakubivan/moveit2/tree/ivan/humble-w-stomp is just the addition of the stomp planner or have you changed any other package from the provided branch from the moveit humble tutorials? Regards
António Matos

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

This issue was closed because it has been stalled for 45 days with no activity.