CHOMP Generator

This package uses the CHOMP motion planner to generate trajectories in an environment.

Requirements

• Subscribe to moveit planning scene
  • get robot state
  • get obstacles
• Generate (n) trajectories from one EE pose to another EE pose
  • Generate trajectory i
  • Add it to the list of avoidance trajectories

Needs:

PlanningSceneMonitor < robot_description
PlanningPipeline pieline < PlanningSceneMonitor

PlannerManaer < PlanningPipeline

for 1 to n:
  pipeline.generatePlan()
end