moveit中ompl配置问题

最新推荐文章于 2025-08-05 17:34:52 发布

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最新推荐文章于 2025-08-05 17:34:52 发布

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文章标签： java 前端服务器

本文链接：https://blog.youkuaiyun.com/Himmik/article/details/148918757

官方生成的ompl配置中有一个文件是这样的：

<launch>

  <!-- This file makes it easy to include different planning pipelines;
       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->

  <arg name="pipeline" default="ompl" />

  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />

</launch>

这里有一个ns="$(arg pipeline)"，导致上传到参数服务器上是这样的：

/move_group/ompl/planner_configs/SPARS/type
/move_group/ompl/planner_configs/SPARStwo/dense_delta_fraction
/move_group/ompl/planner_configs/SPARStwo/max_failures
/move_group/ompl/planner_configs/SPARStwo/sparse_delta_fraction
/move_group/ompl/planner_configs/SPARStwo/stretch_factor
/move_group/ompl/planner_configs/SPARStwo/type
/move_group/ompl/planner_configs/STRIDE/degree
/move_group/ompl/planner_configs/STRIDE/estimated_dimension
/move_group/ompl/planner_configs/STRIDE/goal_bias
/move_group/ompl/planner_configs/STRIDE/max_degree
/move_group/ompl/planner_configs/STRIDE/max_pts_per_leaf
/move_group/ompl/planner_configs/STRIDE/min_degree
/move_group/ompl/planner_configs/STRIDE/min_valid_path_fraction
/move_group/ompl/planner_configs/STRIDE/range
/move_group/ompl/planner_configs/STRIDE/type
/move_group/ompl/planner_configs/STRIDE/use_projected_distance
/move_group/ompl/planner_configs/TRRT/frontier_node_ratio
/move_group/ompl/planner_configs/TRRT/frontier_threshold
/move_group/ompl/planner_configs/TRRT/goal_bias
/move_group/ompl/planner_configs/TRRT/init_temperature
/move_group/ompl/planner_configs/TRRT/k_constant
/move_group/ompl/planner_configs/TRRT/max_states_failed
/move_group/ompl/planner_configs/TRRT/min_temperature
/move_group/ompl/planner_configs/TRRT/range
/move_group/ompl/planner_configs/TRRT/temp_change_factor
/move_group/ompl/planner_configs/TRRT/type
/move_group/ompl/planning_plugin

这样在开启moveit的时候就会提示：

[ WARN] [1750902487.446649415]: MoveGroup launched with ~default_planning_pipeline 'ompl' not configured in ~planning_pipelines

ompl就会开不起来。

所以要把ns="$(arg pipeline)"去掉，然后开启moveit，就能成功加载ompl了：

/move_group/planner_configs/SPARS/sparse_delta_fraction
/move_group/planner_configs/SPARS/stretch_factor
/move_group/planner_configs/SPARS/type
/move_group/planner_configs/SPARStwo/dense_delta_fraction
/move_group/planner_configs/SPARStwo/max_failures
/move_group/planner_configs/SPARStwo/sparse_delta_fraction
/move_group/planner_configs/SPARStwo/stretch_factor
/move_group/planner_configs/SPARStwo/type
/move_group/planner_configs/STRIDE/degree
/move_group/planner_configs/STRIDE/estimated_dimension
/move_group/planner_configs/STRIDE/goal_bias
/move_group/planner_configs/STRIDE/max_degree
/move_group/planner_configs/STRIDE/max_pts_per_leaf
/move_group/planner_configs/STRIDE/min_degree
/move_group/planner_configs/STRIDE/min_valid_path_fraction
/move_group/planner_configs/STRIDE/range
/move_group/planner_configs/STRIDE/type
/move_group/planner_configs/STRIDE/use_projected_distance
/move_group/planner_configs/TRRT/frontier_node_ratio
/move_group/planner_configs/TRRT/frontier_threshold
/move_group/planner_configs/TRRT/goal_bias
/move_group/planner_configs/TRRT/init_temperature
/move_group/planner_configs/TRRT/k_constant
/move_group/planner_configs/TRRT/max_states_failed
/move_group/planner_configs/TRRT/min_temperature
/move_group/planner_configs/TRRT/range
/move_group/planner_configs/TRRT/temp_change_factor
/move_group/planner_configs/TRRT/type

[ INFO] [1750902752.999370228]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1750902752.999388005]: MoveGroup context initialization complete