how to get the velocity using in the local planner with ompl?

[gongyue666]

hi ,thanks for your plugins. now i want to use ompl to make a local planner under ros ,but only get the plan path from the ompl .how can i get the control velocity using ompl?

[windelbouwman]

Hello Gong Yue 666,

Thanks for trying out my software! I have not looked into this code for years, so I will have a look at it. Are you sure that the velocity output is possible from ompl? Why do you need it?

Regards, Windel

[gongyue666]

hi，I am doing a local planner for my robot and have used the teb_local_planner pkg ,but it perforem a little slowly.so i think using rrt .Now i have tested the ompl with control space and state space ,but the velocity in the control space is just used for sampling via goals, not the result to control the robot to go .I don't be sure i used the control space in a right way ,do you have any idea?