Constrained Path Planning

[jayalatn]

Hi, I assume this package was built based on https://wiki.ros.org/Papers/ICRA2011_Kalakrishnan#Download_and_Install paper. In the original page, there is a way to construct paths with orientation constrains and I was unable to find the same in this stomp package. Could someone explain if it is possible or if not would that be available in the future? Best.

[jrgnicho]

Not directly but it should be possible to create a custom update trajectory filter plugin to apply specific constraints