How to use InformedRRTstar in Moveit?

[lisacong]

Description

I want to use InformedRRTstar in moveit. How should I configure in moveit？

Your environment

• ROS Distro: melodic
• OS Version: e.g. Ubuntu 18.04
• Source or Binary build?
• If binary, which release version?
• If source, which git commit or tag?

Steps to reproduce

Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.

Expected behaviour

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Backtrace or Console output

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[welcome[bot]]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[simonschmeisser]

From a quick glance it seems not to be integrated yet. That's not very hard however. Please have a look at this commit https://github.com/ros-planning/moveit/commit/51cff827c92709f3d0b2b6142e42c678dfbbd88a and try to do the same for InformedRRTstar. Then please open a pull request (PR) so everybody can enjoy it

[lisacong]

I have achieved to call InforemedRRTstar in moveit. But now I don't know which optimization_objective to choice.

[simonschmeisser]

Please provide a PR to add InformedRRTstar so others can profit as well. I don't understand your question unfortunately but generally you can add the optimization_objective to your ompl_planning.yaml as you can see here: https://ros-planning.github.io/moveit_tutorials/doc/ompl_interface/ompl_interface_tutorial.html#ompl-optimization-objectives

[lisacong]

After few days research，I know that InformedRRTstar should choice "PathLengthOptimizationObjective" as optimization_objective in ompl_planning.yaml. InfomedRRTstar will use PathLengthDirectInfSampler as informed sample. But i encounter a problem: in the algorithm of PHS, the GoalSample should be used , but the goal state can not be sampled.