Comparing MoveIt 2 and OMPL for Autonomous Navigation: A Benchmark of Motion Planning Algorithms in ROS 2

Introduction to Motion Planning in ROS 2

When working with autonomous systems, particularly those that require complex movements like robotic arms or self-driving cars, motion planning is a critical component. It's the process of finding a feasible path for the system to follow, avoiding obstacles and ensuring efficiency. In ROS 2 (Robot Operating System), two prominent tools for motion planning are MoveIt 2 and OMPL (Open Motion Planning Library). Last quarter, our team discovered that choosing the right motion planning algorithm can significantly impact the performance and reliability of our autonomous systems.

What is MoveIt 2?

MoveIt 2 is the next generation of the MoveIt motion planning framework, designed to work seamlessly with ROS 2. It provides an easy-to-use interface for motion planning, allowing users to plan and execute complex movements with ease. MoveIt 2 integrates well with various ROS 2 packages, making it a popular choice among robotics developers. However, I realized that MoveIt 2, while powerful, might not always be the best choice for every scenario, especially when considering the computational resources required for complex motion planning tasks.

What is OMPL?

OMPL is an open-source motion planning library that provides a wide range of motion planning algorithms.