This stack is currently compatible with ROS Electric.

Stack containing implementation of LDD and ROS interface for PR2 arm planning. Please see the following publication for more information on LDD:

Paul Vernaza and Daniel D. Lee. Learning dimensional descent planning for a highly-articulated robot arm. In Proceedings of the International Conference on Intelligent Robots and Systems, 2011.

Installation

You will need to obtain and rosmake the ocaml_dist stack prior to building the ldd_plan stack. rosmake ldd_plan will then build the ldd_plan stack. Alternatively, you may download both stacks and execute rosmake ldd_plan twice--the first attempt will probably fail due to rosdep attempting to execute a binary installed via ocaml_dist.

Usage

Please refer to ldd_plan_node for instructions on how to use the LDD planner.