From 836e8457822a56f5c5ced58eeb237e9931589145 Mon Sep 17 00:00:00 2001
From: Isaac IY Saito <130s@lateeye.net>
Date: Thu, 14 May 2015 12:59:27 +0900
Subject: [PATCH] Add use trajectory filter files

---
 .../launch/ompl_planning_pipeline.launch.xml  | 24 +----------------
 .../ompl_planning_pipeline.launch.xml.default | 23 ++++++++++++++++
 ...pl_planning_pipeline.launch.xml.trajfilter | 26 +++++++++++++++++++
 3 files changed, 50 insertions(+), 23 deletions(-)
 mode change 100644 => 120000 ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml
 create mode 100644 ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml.default
 create mode 100644 ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml.trajfilter

diff --git a/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml
deleted file mode 100644
index abc39fe..0000000
--- a/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<launch>
-
-  <!-- OMPL Plugin for MoveIt! -->
-  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
-
-  <!-- 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" />
-
-  <arg name="start_state_max_bounds_error" value="0.1" />
-
-  <param name="planning_plugin" value="$(arg planning_plugin)" />
-  <param name="request_adapters" value="$(arg planning_adapters)" />
-  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
-
-  <rosparam command="load" file="$(find stackit_robot_moveit_config)/config/ompl_planning.yaml"/>
-
-</launch>
diff --git a/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml
new file mode 120000
index 0000000..333764e
--- /dev/null
+++ b/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1 @@
+ompl_planning_pipeline.launch.xml.default
\ No newline at end of file
diff --git a/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml.default b/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml.default
new file mode 100644
index 0000000..abc39fe
--- /dev/null
+++ b/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml.default
@@ -0,0 +1,23 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+
+  <!-- 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" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find stackit_robot_moveit_config)/config/ompl_planning.yaml"/>
+
+</launch>
diff --git a/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml.trajfilter b/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml.trajfilter
new file mode 100644
index 0000000..d101655
--- /dev/null
+++ b/ros_seminar_manipulation/stackit_robot_moveit_config/launch/ompl_planning_pipeline.launch.xml.trajfilter
@@ -0,0 +1,26 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+
+  <!-- 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" />
+
+  <param name="sample_duration" value="0.05" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find stackit_robot_moveit_config)/config/ompl_planning.yaml"/>
+
+</launch>