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Commit 4e3fd7e3 authored by Robert Haschke's avatar Robert Haschke Committed by Mike Lautman
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Adapt pipelines (#31)

* add default_planner_request_adapters/ResolveConstraintFrames

* chomp pipeline: define default planning adapters
parent 549ea907
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......@@ -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="$(find panda_moveit_config)/config/chomp_planning.yaml" />
......
......@@ -5,12 +5,14 @@
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
<arg name="planning_adapters" value="
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
default_planner_request_adapters/FixStartStatePathConstraints
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/AddTimeParameterization"
/>
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
......
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