Move adapter params into separate namespace

moveit · Oct 23, 2023 · 05d4062 · 05d4062
1 parent 8da7276
commit 05d4062
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Showing 2 changed files with 17 additions and 16 deletions.
diff --git a/.../planning/planning_response_adapter_plugins/res/default_plan_response_adapter_params.yaml b/.../planning/planning_response_adapter_plugins/res/default_plan_response_adapter_params.yaml
@@ -1,17 +1,18 @@
 # This files contains the parameters for all of MoveIt's default PlanResponseAdapters
 default_plan_response_adapter_parameters:
-  path_tolerance: {
-    type: double,
-    description: "AddTimeOptimalParameterization: Tolerance per joint in which the time parameterization is allowed to deviate from the original path.",
-    default_value: 0.1,
-  }
-  resample_dt: {
-    type: double,
-    description: "AddTimeOptimalParameterization: Time steps between two adjacent waypoints of the parameterized trajectory. The trajectory is re-sampled from the original path.",
-    default_value: 0.1,
-  }
-  min_angle_change: {
-    type: double,
-    description: "AddTimeOptimalParameterization: Minimum joint value change to consider two waypoints unique.",
-    default_value: 0.001,
-  }
+  totg:
+    path_tolerance: {
+      type: double,
+      description: "AddTimeOptimalParameterization: Tolerance per joint in which the time parameterization is allowed to deviate from the original path.",
+      default_value: 0.1,
+    }
+    resample_dt: {
+      type: double,
+      description: "AddTimeOptimalParameterization: Time steps between two adjacent waypoints of the parameterized trajectory. The trajectory is re-sampled from the original path.",
+      default_value: 0.1,
+    }
+    min_angle_change: {
+      type: double,
+      description: "AddTimeOptimalParameterization: Minimum joint value change to consider two waypoints unique.",
+      default_value: 0.001,
+    }
diff --git a/..._ros/planning/planning_response_adapter_plugins/src/add_time_optimal_parameterization.cpp b/..._ros/planning/planning_response_adapter_plugins/src/add_time_optimal_parameterization.cpp
@@ -68,7 +68,7 @@ class AddTimeOptimalParameterization : public planning_interface::PlanningRespon
     if (res.trajectory)
     {
       RCLCPP_DEBUG(LOGGER, " Running '%s'", getDescription().c_str());
-      const auto params = param_listener_->get_params();
+      const auto params = param_listener_->get_params().totg;
       TimeOptimalTrajectoryGeneration totg(params.path_tolerance, params.resample_dt, params.min_angle_change);
       return totg.computeTimeStamps(*res.trajectory, req.max_velocity_scaling_factor,
                                     req.max_acceleration_scaling_factor);