This package implements cool400 with CHOMP planner. To run this package, create a new catkin workspace:
mkdir -p
/home/<username>/catkin_cool400/src
cd /home/<username>/catkin_cool400/src
catkin_init_workspace
Download this package(.zip) and extract in catkin_cool400/src/
source ../devel/setup.bash
catkin_make
This command is for demo: roslaunch cool_400 demo.launch
To change the planner to OMPL: open demo.launch in text editor, go to line number 34 and edit it as follows
<arg name="planner" value="ompl" />
Planning and execution can be done using Moveit on Rviz. Results of various planners on the basis of time and computational efforts can be found in cool.pdf. Thank You.