Custom Cost Function for OMPL & MoveIt! through ROS

In this post I'll cover how to setup OMPL with a custom optimization objective that reaches out to the ROS stack for its cost function.

Installing RealSense SDK on an ODROID-XU4

In this post I'll walk through how to get the RealSense SDK up and running on the ODROID-XU4.

Setting up ROS in Windows through Docker

This is a straight forward way to set up a ROS development environment on Windows including GUI applications.

Setting up ROS in Windows through WSL

This is a (relatively) quick walk-through on setting up a functional ROS on Windows environment using WSL. It took me a bit of trial and error to get here so I thought I'd put it all in one place.

Installing OMPL/MoveIt! for custom motion planning

Through a lot of hacking, installing, reinstalling, and much head-banging, I finally figured out an installation process that leads to (what seems to be) a fully functional development environment for OMPL and MoveIt!.