Custom Constraint Samplers

This Tutorial is not finished by MoveIt! dev

Some planning problems require more complex or custom constraint samplers for more difficult planning problems. This document explains how to create a custom motion planning constraint sampler for use with MoveIt!.

If you haven’t already done so, make sure you’ve completed the steps in Getting Started.

  • Create a ROBOT_moveit_plugins package and within that a sub-folder for your ROBOT_constraint_sampler plugin. Modify the template provided by ROBOT_moveit_plugins/ROBOT_moveit_constraint_sampler_plugin
  • In your ROBOT_moveit_config/launch/move_group.launch file, within the <node name="move_group">, add the parameter: <param name="constraint_samplers" value="ROBOT_moveit_constraint_sampler/ROBOTConstraintSamplerAllocator"/>
  • Now when you launch move_group, it should default to your new constraint sampler.