From 4efd960cc9e2d3d5a0550e55ef3277fef93524c4 Mon Sep 17 00:00:00 2001 From: Omid Heidari <omid.github@gmail.com> Date: Tue, 13 Aug 2019 12:52:34 -0600 Subject: [PATCH] Necessary files to run LERP (#40) * added new files for emptyplan * edited demo.launch to accept planner arg * Added emptyplan_planning.yaml so it can be used for new planners. It is an empty file. Added rosparam in emptyplan_planning_pipeline.launch.xml to load its yaml file * added necessary files for LERP * chaged the virtual joint to fixed * added yaml file * addressed the comments * revet back to floating for virtual joint and revert moveit.rviz --- config/lerp_planning.yaml | 1 + launch/lerp_planning_pipeline.launch.xml | 22 ++++++++++++++++++++++ 2 files changed, 23 insertions(+) create mode 100644 config/lerp_planning.yaml create mode 100644 launch/lerp_planning_pipeline.launch.xml diff --git a/config/lerp_planning.yaml b/config/lerp_planning.yaml new file mode 100644 index 0000000..9d2eebd --- /dev/null +++ b/config/lerp_planning.yaml @@ -0,0 +1 @@ +num_steps: 40 diff --git a/launch/lerp_planning_pipeline.launch.xml b/launch/lerp_planning_pipeline.launch.xml new file mode 100644 index 0000000..c119357 --- /dev/null +++ b/launch/lerp_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ +<launch> + + <!-- LERP Plugin for MoveIt! --> + <arg name="planning_plugin" value="lerp_interface/LERPPlanner" /> + + <!-- The request adapters (plugins) used when planning with TrajOpt. + 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="start_state_max_bounds_error" value="0.1" /> + + <param name="planning_plugin" value="$(arg planning_plugin)" /> + <param name="request_adapters" value="$(arg planning_adapters)" /> + <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> + + <rosparam command="load" file="$(find panda_moveit_config)/config/lerp_planning.yaml"/> + +</launch> -- GitLab