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Mudit Jindal edited this page May 12, 2017
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Welcome to the moveit_planner_code wiki!
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. Thank You