From db5397405529e042f56f52b991a2905f65bfea13 Mon Sep 17 00:00:00 2001 From: David Yackzan Date: Tue, 19 Dec 2023 12:08:47 -0700 Subject: [PATCH] Update planning config parameters Also update to latest ros2_kortex and ros2_robotiq_gripper submodule changes --- src/external_dependencies/ros2_kortex | 2 +- .../ros2_robotiq_gripper | 2 +- .../config/moveit/stomp_planning.yaml | 21 +++++++++++-------- 3 files changed, 14 insertions(+), 11 deletions(-) diff --git a/src/external_dependencies/ros2_kortex b/src/external_dependencies/ros2_kortex index 0923cbf..915df14 160000 --- a/src/external_dependencies/ros2_kortex +++ b/src/external_dependencies/ros2_kortex @@ -1 +1 @@ -Subproject commit 0923cbf3d4409b5bf5f97ee74ec43661c3743633 +Subproject commit 915df14e83fbc295a985f393afcc9175bdfcd72b diff --git a/src/external_dependencies/ros2_robotiq_gripper b/src/external_dependencies/ros2_robotiq_gripper index 1ec8f2a..61d6f67 160000 --- a/src/external_dependencies/ros2_robotiq_gripper +++ b/src/external_dependencies/ros2_robotiq_gripper @@ -1 +1 @@ -Subproject commit 1ec8f2a9c692d714f5a255795105c63ea127c543 +Subproject commit 61d6f67fdb0016f78ae15ccbe221e555719e5d0b diff --git a/src/kinova_gen3_base_config/config/moveit/stomp_planning.yaml b/src/kinova_gen3_base_config/config/moveit/stomp_planning.yaml index 47d3115..10be27a 100644 --- a/src/kinova_gen3_base_config/config/moveit/stomp_planning.yaml +++ b/src/kinova_gen3_base_config/config/moveit/stomp_planning.yaml @@ -1,12 +1,15 @@ -planning_plugin: stomp_moveit/StompPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints - +planning_plugins: + - stomp_moveit/StompPlanner +# 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 stomp_moveit: num_timesteps: 60 num_iterations: 40