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Update planning config parameters #15

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merged 1 commit into from
Dec 19, 2023
Merged

Update planning config parameters #15

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2 changes: 1 addition & 1 deletion src/external_dependencies/ros2_kortex
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Submodule ros2_kortex updated 3 files
+2 −3 kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml
+2 −3 kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml
+12 −3 kortex_moveit_config/launch/kortex_moveit.launch.py
2 changes: 1 addition & 1 deletion src/external_dependencies/ros2_robotiq_gripper
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Submodule ros2_robotiq_gripper updated 2 files
+11 −3 README.md
+1 −1 robotiq_driver/include/robotiq_driver/hardware_interface.hpp
21 changes: 12 additions & 9 deletions src/kinova_gen3_base_config/config/moveit/stomp_planning.yaml
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Original file line number Diff line number Diff line change
@@ -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
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