Running TrajOpt tutorial

[gautz]

Description

Trying to run TrajOpt tutorial https://ros-planning.github.io/moveit_tutorials/doc/trajopt_planner/trajopt_planner_tutorial.html

Your environment

• ROS Distro: [noetic]
• OS Version: Ubuntu 20.04
• Source build from Master a8c57d39

Steps to reproduce

Setup a workspace and run the demo following https://ros-planning.github.io/moveit_tutorials/doc/trajopt_planner/trajopt_planner_tutorial.html

• moveit_planners_trajopt is not built because of moveit/moveit_planners/trajopt/CATKIN_IGNORE
• I tried to checkout trajopt_ros and tesseract manually to the commits given here: https://github.com/ros-planning/moveit/pull/1593#issue-303175526 .
• after #include <trajopt_utils/eigen_conversions.hpp> in moveit/moveit_planners/trajopt/src/problem_description.cpp it compiled and I got the demo working

Expected behaviour

• Either erase the tutorial as long as https://github.com/ros-planning/moveit/pull/1626#issuecomment-533918473 is not merged
• Or detail custom workspace setup steps in the Trajopt tutorial

Backtrace or Console output

[Mikael512]

how did you set up trajopt? i am trying to install it on ubuntu 20.04 and ros noetic but i cannot simply install openrave 0.9 or openrave 0.8 which is a requirement for trajopt. Do you have any suggestions?

[zichunxx]

@Mikael512 Hi! Could you share your solution if it works?

[KeerthiSagarSN]

@zichunxx Hi, did you by any chance find a working solution for openrave installation in ROS Noetic (Ubuntu 20.04) ?