How to plan with STOMP on Humble

[Jakub-Ivan-STUBA]

Hello,

I am looking for an up-to-date tutorial on planning with the STOMP planning algorithm. I am using ros Humble on Ubuntu 22.04.4 LTS. However, when I install moveit2 from binary sudo apt-get install ros-humble-moveit*, I encounter exceptions that stomp_moveit/StompPlanner is unknown, among others.

I also tried to install moveit2 from the source, but I noticed that STOMP is not present in the moveit_planners directory since the migration commit e3539be58a1f972e6deba4c61dbfb46fecb2b3d5 (PR) is only available on the main branch and not in Humble. Moreover, the repo stomp_moveit is already marked as a public archive, and I believe it was a work in progress before it was archived.

Can someone please provide a brief tutorial on how to set up the environment for the planner STOMP? Thank you.

Best regards,
Jakub