From 05d406203085f81e5a70bf0a35bfc32d89811e14 Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Wed, 18 Oct 2023 09:38:47 +0200
Subject: [PATCH] Move adapter params into separate namespace

---
 .../default_plan_response_adapter_params.yaml | 31 ++++++++++---------
 .../src/add_time_optimal_parameterization.cpp |  2 +-
 2 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/moveit_ros/planning/planning_response_adapter_plugins/res/default_plan_response_adapter_params.yaml b/moveit_ros/planning/planning_response_adapter_plugins/res/default_plan_response_adapter_params.yaml
index 88b39bb6ae..20a8de49e3 100644
--- a/moveit_ros/planning/planning_response_adapter_plugins/res/default_plan_response_adapter_params.yaml
+++ b/moveit_ros/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/moveit_ros/planning/planning_response_adapter_plugins/src/add_time_optimal_parameterization.cpp b/moveit_ros/planning/planning_response_adapter_plugins/src/add_time_optimal_parameterization.cpp
index b4e616d980..e7d1d6bdce 100644
--- a/moveit_ros/planning/planning_response_adapter_plugins/src/add_time_optimal_parameterization.cpp
+++ b/moveit_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);