From 4f884361791fd4e7cd0df2168faccbb5052852ba Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Mon, 9 May 2022 11:45:19 -0400 Subject: [PATCH 1/2] Explicitly use CHOMP, OMPL, and Pilz planners --- panda_moveit_config/launch/demo.launch.py | 1 + 1 file changed, 1 insertion(+) diff --git a/panda_moveit_config/launch/demo.launch.py b/panda_moveit_config/launch/demo.launch.py index ed2db556..8176227d 100644 --- a/panda_moveit_config/launch/demo.launch.py +++ b/panda_moveit_config/launch/demo.launch.py @@ -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"]) .to_moveit_configs() ) From e7f604b306606b8f01984b232d472e8bde6e9cac Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Fri, 13 May 2022 11:18:26 -0400 Subject: [PATCH 2/2] Remove Pilz --- panda_moveit_config/launch/demo.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda_moveit_config/launch/demo.launch.py b/panda_moveit_config/launch/demo.launch.py index 8176227d..351119fd 100644 --- a/panda_moveit_config/launch/demo.launch.py +++ b/panda_moveit_config/launch/demo.launch.py @@ -25,7 +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"]) + .planning_pipelines(pipelines=["ompl", "chomp"]) .to_moveit_configs() )