From 68ec24b33783990c464b5aeb51db384b4d445ef4 Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Wed, 6 Dec 2023 14:53:01 -0700 Subject: [PATCH] Update planner_plugin parameters --- .../config/ompl_planning.yaml | 3 ++- .../config/ompl_planning.yaml | 3 ++- kortex_moveit_config/launch/kortex_moveit.launch.py | 2 +- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml index 62e44a69c..d436d057d 100644 --- a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml +++ b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml @@ -1,4 +1,5 @@ -planning_plugin: ompl_interface/OMPLPlanner +planning_plugins: + - ompl_interface/OMPLPlanner start_state_max_bounds_error: 0.1 jiggle_fraction: 0.05 request_adapters: diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml index 62e44a69c..d436d057d 100644 --- a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml +++ b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml @@ -1,4 +1,5 @@ -planning_plugin: ompl_interface/OMPLPlanner +planning_plugins: + - ompl_interface/OMPLPlanner start_state_max_bounds_error: 0.1 jiggle_fraction: 0.05 request_adapters: diff --git a/kortex_moveit_config/launch/kortex_moveit.launch.py b/kortex_moveit_config/launch/kortex_moveit.launch.py index 6613e3c75..06ef99f92 100644 --- a/kortex_moveit_config/launch/kortex_moveit.launch.py +++ b/kortex_moveit_config/launch/kortex_moveit.launch.py @@ -211,7 +211,7 @@ def generate_launch_description(): # Planning Configuration ompl_planning_pipeline_config = { "move_group": { - "planning_plugin": "ompl_interface/OMPLPlanner", + "planning_plugins": ["ompl_interface/OMPLPlanner"], "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""", "start_state_max_bounds_error": 0.1, }