用于移动操作的双向通知RRT :https://github.com/burgetf/mobile_manipulation_planning
3d的informed rrt*:https://github.com/jiaweimeng/3D-Informed-RRT-star
用于移动操作的双向通知RRT *
★预使用代码:
https://github.com/ahq1993
https://github.com/jiaweimeng
https://github.com/zhongjieGDUT/manipulation_planning_Matlab.git
埋坑:
ompl编译没问题,但是moveit源码调用ompl的位置有问题。
ompl编译步骤如下:
cd build/Release
cmake -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic ../..
make -j4
sudo make install
参考:
1.https://www.codetd.com/article/5527968
2.https://answers.ros.org/question/302738/how-to-create-a-new-motion-planner-in-moveit/
3.https://www.zhihu.com/question/293386019/answer/486199063
报错如下:
/home/yany/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.18: undefined reference to `ompl::geometric::RRTstarxh::~RRTstarxh()'
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