一.Getting Started
二.Prerequisites
三.Installing MoveIt! from Source
四.Using Planning Request Adapter with Your Motion Planner
1.Running OMPL as a pre-processor for CHOMP
2.Running CHOMP as a post-processor for STOMP
3.Running OMPL as a pre-processor for STOMP
4.Running STOMP as a post-processor for CHOMP
五.Planning Insights for different motion planners and planners with planning adapters
参考文献：
[1]Planning Adapter Tutorials：http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/planning_adapters/planning_adapters_tutorial.html
