FAQ

1. How to add STOMP planner to MoveIt config package?

   This package is a great example for items related to setting up STOMP. To setup STOMP it requires two new files and modification to the move_group.launch file as described below.

   • Step 1 - Create required files:
     • stomp_config.yaml
     • stomp_moveit_planning_pipeline.launch.xml
     • Note: Make sure the file name matches what is listed here not what the link directs you too.
   • Step 2 - Make changes to the move_group.launch file:
     • Add argument to the file here. <arg name="pipeline" default="stomp"/>
     • Change the value here from ompl to $(arg pipeline)
     • Add parameter to the file here <param name="collision_detector" value="IndustrialFCL" />