diff --git a/README.md b/README.md index 8b137891791fe96927ad78e64b0aad7bded08bdc..96eb6d299198c53aa5e2b278fbb7ab7f60c0adea 100644 --- a/README.md +++ b/README.md @@ -1 +1,28 @@ +# 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.