moveit source installation
source installation with moveit
reference:
version corresponding:
- moveit-melodic with ompl-master
- moveit-kinetic with ompl-1.4.0
- sudo apt-get install ros-kinetic-trac-ik-lib
-
sudo apt-get remove ros-kinetic-ompl
-
install ros
- moveit source installation
- prerequisites
-
uninstall moveit: sudo apt-get remove ros-kinetic-moveit-*
errors
- Removed EuclideanProjection, changed to Eigen vector.
- libompl.so: copied from "/usr/local/lib" to destination.
- "stack smashing detected" when collision checking with fcl after install openrave with fcl source installation. Checkout to the kinect version(fcl-0.5) and make install, then rebuild moveit.
The initial libfcl.so is installed in '/usr/lib/x86_64-linux-gnu', however the new built library is installed in '/usr/local/lib'๏ผ so the 'devel' and 'build' directory should be deleted before re-build moveit.
add a new planner
Modify MoveIt! Source
In your MoveIt! directory, modify src/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp. Include the header file that defines your planner at the top and register your planner in the registerDefaultPlanners() function as the existing ones are
Install MoveIt! from Source
Finish the last 2 steps of the MoveIt! installation (catkin_make and source the install)
If you did not overwrite the existing OMPL in your ros directory, you will have to set environment variables to tell MoveIt! which version of OMPL to use
You can set: OMPL_PREFIX = [local install directory]
append OMPL_PREFIX to CMAKE_PREFIX_PATH
Modify ompl_planning.yaml
If you've already generated MoveIt! config files for your robot, modify /config/ompl_planning.yaml in YOURROBOT_moveit_config to include the option for the new planner.
re-build
for the older package which uses moveit, clean the build files(delete build||devel) and re-build this package.
catkin build //rebuild
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Debug //set build model debug/release