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Merge pull request #16 from 130s/add/traj_filter
Add use trajectory filter files
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...seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml
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...seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml
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| ompl_planning_pipeline.launch.xml.default |
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...manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml.default
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| <launch> | ||
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| <!-- OMPL Plugin for MoveIt! --> | ||
| <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" /> | ||
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| <!-- The request adapters (plugins) used when planning with OMPL. | ||
| ORDER MATTERS --> | ||
| <arg name="planning_adapters" value=" | ||
| default_planner_request_adapters/AddTimeParameterization | ||
| default_planner_request_adapters/FixWorkspaceBounds | ||
| default_planner_request_adapters/FixStartStateBounds | ||
| default_planner_request_adapters/FixStartStateCollision | ||
| default_planner_request_adapters/FixStartStatePathConstraints" /> | ||
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| <arg name="start_state_max_bounds_error" value="0.1" /> | ||
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| <param name="planning_plugin" value="$(arg planning_plugin)" /> | ||
| <param name="request_adapters" value="$(arg planning_adapters)" /> | ||
| <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> | ||
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| <rosparam command="load" file="$(find stackit_robot_moveit_config)/config/ompl_planning.yaml"/> | ||
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| </launch> |
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...ipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml.trajfilter
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| <launch> | ||
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| <!-- OMPL Plugin for MoveIt! --> | ||
| <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" /> | ||
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| <!-- The request adapters (plugins) used when planning with OMPL. | ||
| ORDER MATTERS --> | ||
| <arg name="planning_adapters" value=" | ||
| industrial_trajectory_filters/UniformSampleFilter | ||
| default_planner_request_adapters/AddTimeParameterization | ||
| default_planner_request_adapters/FixWorkspaceBounds | ||
| default_planner_request_adapters/FixStartStateBounds | ||
| default_planner_request_adapters/FixStartStateCollision | ||
| default_planner_request_adapters/FixStartStatePathConstraints" /> | ||
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| <param name="sample_duration" value="0.05" /> | ||
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| <arg name="start_state_max_bounds_error" value="0.1" /> | ||
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| <param name="planning_plugin" value="$(arg planning_plugin)" /> | ||
| <param name="request_adapters" value="$(arg planning_adapters)" /> | ||
| <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> | ||
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| <rosparam command="load" file="$(find stackit_robot_moveit_config)/config/ompl_planning.yaml"/> | ||
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| </launch> |