Merge pull request #16 from PickNikRobotics/update-planning-configs-v2

Update planning configs in ompl_planning.yaml

src/kinova_gen3_base_config/config/moveit/ompl_planning.yaml

@@ -1,3 +1,16 @@
+planning_plugins:
+  - ompl_interface/OMPLPlanner
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
+
 planner_configs:
   SBLkConfigDefault:
     type: geometric::SBL