Commit 301583f4 authored by David Tiede's avatar David Tiede
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Update README.md

parent b2ad498c
# Adapter Packages
## Inhalt
- adapter_package: Beispiel Anwednung zur Nutzung von Planning Request Adapters
- safety_planning_request_adapters: Package für Planning Request Adapter Plugins
- add_safety.cpp: Planning Request Adapter Plugins
## Einrichtung
1. Wenn nicht vorhanden, dann Einrichtung eines ROS Workspaces: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
2. Clonen bzw. kopieren von adapter_pkgs in den ROS Workspace.
3. Registrierung des Planning Request Adapter Plugins in der .launch File. Beispiel ompl_planning_pipeline.launch.xml:
```
<arg name="planning_adapters" default="
safety_planning_request_adapters/AddSafety
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
default_planner_request_adapters/AddTimeParameterization"
/>
<!-- default_planner_request_adapters/ResolveConstraintFrames -->
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
```
4. Bauen des ROS Workspaces.
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