From 3bb69387a35d15bcb7cca3cea8a4169acf57010d Mon Sep 17 00:00:00 2001 From: AndyZe Date: Sat, 19 Apr 2025 11:02:33 -0500 Subject: [PATCH] Add moveitcpp planning pipeline config --- doc/examples/moveit_cpp/config/moveit_cpp.yaml | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/doc/examples/moveit_cpp/config/moveit_cpp.yaml b/doc/examples/moveit_cpp/config/moveit_cpp.yaml index ffa333f8a4..e1bcce07da 100644 --- a/doc/examples/moveit_cpp/config/moveit_cpp.yaml +++ b/doc/examples/moveit_cpp/config/moveit_cpp.yaml @@ -10,6 +10,22 @@ planning_scene_monitor_options: planning_pipelines: #namespace: "moveit_cpp" # optional, default is ~ pipeline_names: ["ompl"] +ompl: + planning_plugin: 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 + planner_configs: + PRMstarkConfigDefault: + type: geometric::PRMstar + # Define planner(s) for each move_group + panda_arm: + planner_configs: + - PRMstarkConfigDefault + # Add additional planning pipeline config here plan_request_params: planning_attempts: 1