From 4e3fd7e3340a4b64304e49e8f3f3c8ccfa547e4a Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@users.noreply.github.com>
Date: Fri, 21 Jun 2019 22:42:58 +0200
Subject: [PATCH] Adapt pipelines (#31)
* add default_planner_request_adapters/ResolveConstraintFrames
* chomp pipeline: define default planning adapters
---
launch/chomp_planning_pipeline.launch.xml | 8 ++++++++
launch/ompl_planning_pipeline.launch.xml | 14 ++++++++------
2 files changed, 16 insertions(+), 6 deletions(-)
diff --git a/launch/chomp_planning_pipeline.launch.xml b/launch/chomp_planning_pipeline.launch.xml
index 7d9404a..456cbe2 100644
--- a/launch/chomp_planning_pipeline.launch.xml
+++ b/launch/chomp_planning_pipeline.launch.xml
@@ -4,6 +4,14 @@
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
+ <param name="request_adapters" value="
+ default_planner_request_adapters/FixWorkspaceBounds
+ default_planner_request_adapters/FixStartStateBounds
+ default_planner_request_adapters/FixStartStateCollision
+ default_planner_request_adapters/FixStartStatePathConstraints
+ default_planner_request_adapters/ResolveConstraintFrames
+ default_planner_request_adapters/AddTimeParameterization"
+ />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml" />
diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ompl_planning_pipeline.launch.xml
index f6794d5..1f35f0d 100644
--- a/launch/ompl_planning_pipeline.launch.xml
+++ b/launch/ompl_planning_pipeline.launch.xml
@@ -5,12 +5,14 @@
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
- <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
- default_planner_request_adapters/FixWorkspaceBounds
- default_planner_request_adapters/FixStartStateBounds
- default_planner_request_adapters/FixStartStateCollision
- default_planner_request_adapters/FixStartStatePathConstraints" />
-
+ <arg name="planning_adapters" value="
+ default_planner_request_adapters/FixWorkspaceBounds
+ default_planner_request_adapters/FixStartStateBounds
+ default_planner_request_adapters/FixStartStateCollision
+ default_planner_request_adapters/FixStartStatePathConstraints
+ default_planner_request_adapters/ResolveConstraintFrames
+ default_planner_request_adapters/AddTimeParameterization"
+ />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
--
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