Explicitly use CHOMP and OMPL planners #135
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| @@ -25,6 +25,7 @@ def generate_launch_description(): | |||
| .robot_description(file_path="config/panda.urdf.xacro") | |||
| .robot_description_semantic(file_path="config/panda.srdf") | |||
| .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml") | |||
| .planning_pipelines("ompl", ["ompl", "chomp", "pilz_industrial_motion_planner"]) | |||
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.planning_pipelines("ompl", ["ompl", "chomp", "pilz_industrial_motion_planner"])
^ is ompl outside the brackets because it's supposed to be the default? Please add a comment.
I think you should remove pilz_industrial_motion_planner because it doesn't seem to work from the RViz GUI.
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OMPL is by default the default if it applies, so I removed that bit entirely.
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I think you should remove pilz_industrial_motion_planner because it doesn't seem to work from the RViz GUI.
doesn't it? I thought the pilz planner is enabled in moveit2 now so where is the open issue?
It's a severe regression if the pilz functionality is not available anymore!
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moveit/moveit2#1281 fixed PILZ, it's working now
AndyZe
changed the title
Explicitly use CHOMP, OMPL, and Pilz as planners rather than iterating through all
*_planning.yamlfiles, some of which do not work as of now.Partially resolves #134