Comment ompl config
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@@ -299,21 +299,21 @@ def launch_setup(context, *args, **kwargs):
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kinematics_yaml = robot_description_parameters['robot_description_kinematics']
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joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
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if add_gripper.perform(context) in ('True', 'true'):
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gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
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gripper_ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'ompl_planning.yaml')
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gripper_joint_limits_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'joint_limits.yaml')
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#if add_gripper.perform(context) in ('True', 'true'):
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# gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
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# gripper_ompl_planning_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'ompl_planning.yaml')
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# gripper_joint_limits_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), 'joint_limits.yaml')
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if gripper_controllers_yaml and 'controller_names' in gripper_controllers_yaml:
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for name in gripper_controllers_yaml['controller_names']:
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if name in gripper_controllers_yaml:
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if name not in controllers_yaml['controller_names']:
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controllers_yaml['controller_names'].append(name)
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controllers_yaml[name] = gripper_controllers_yaml[name]
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if gripper_ompl_planning_yaml:
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ompl_planning_yaml.update(gripper_ompl_planning_yaml)
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if joint_limits_yaml and gripper_joint_limits_yaml:
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joint_limits_yaml['joint_limits'].update(gripper_joint_limits_yaml['joint_limits'])
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# if gripper_controllers_yaml and 'controller_names' in gripper_controllers_yaml:
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# for name in gripper_controllers_yaml['controller_names']:
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# if name in gripper_controllers_yaml:
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# if name not in controllers_yaml['controller_names']:
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# controllers_yaml['controller_names'].append(name)
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# controllers_yaml[name] = gripper_controllers_yaml[name]
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# if gripper_ompl_planning_yaml:
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# ompl_planning_yaml.update(gripper_ompl_planning_yaml)
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# if joint_limits_yaml and gripper_joint_limits_yaml:
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# joint_limits_yaml['joint_limits'].update(gripper_joint_limits_yaml['joint_limits'])
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add_prefix_to_moveit_params = getattr(mod, 'add_prefix_to_moveit_params')
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add_prefix_to_moveit_params(
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@@ -325,22 +325,22 @@ def launch_setup(context, *args, **kwargs):
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# Planning pipeline
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# https://github.com/AndrejOrsula/panda_moveit2_config/blob/master/launch/move_group_fake_control.launch.py
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planning_pipeline = {
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"planning_pipelines": ["ompl", "pilz_industrial_motion_planner"],
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"default_planning_pipeline": "pilz_industrial_motion_planner",
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"ompl": {
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"planning_plugin": "ompl_interface/OMPLPlanner",
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# TODO: Re-enable `default_planner_request_adapters/AddRuckigTrajectorySmoothing` once its issues are resolved
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"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",
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# TODO: Reduce start_state_max_bounds_error once spawning with specific joint configuration is enabled
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"start_state_max_bounds_error": 0.31416,
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},
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"pilz_industrial_motion_planner": {
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"planning_plugin": "pilz_industrial_motion_planner::CommandPlanner",
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"default_planner_config": "PTP",
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"capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService",
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},
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}
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#planning_pipeline = {
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# "planning_pipelines": ["ompl", "pilz_industrial_motion_planner"],
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# "default_planning_pipeline": "pilz_industrial_motion_planner",
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# "ompl": {
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# "planning_plugin": "ompl_interface/OMPLPlanner",
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# # TODO: Re-enable `default_planner_request_adapters/AddRuckigTrajectorySmoothing` once its issues are resolved
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# "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",
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# # TODO: Reduce start_state_max_bounds_error once spawning with specific joint configuration is enabled
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# "start_state_max_bounds_error": 0.31416,
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# },
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# "pilz_industrial_motion_planner": {
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# "planning_plugin": "pilz_industrial_motion_planner::CommandPlanner",
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# "default_planner_config": "PTP",
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# "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService",
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# },
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#}
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# Kinematics
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#kinematics = load_yaml('panda_moveit2_config', 'config/kinematics.yaml')
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@@ -349,14 +349,14 @@ def launch_setup(context, *args, **kwargs):
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# Planning Configuration
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ompl_planning_pipeline_config = {
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'move_group': {
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'planning_plugin': 'ompl_interface/OMPLPlanner',
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'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
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'start_state_max_bounds_error': 0.1,
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}
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}
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ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
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#ompl_planning_pipeline_config = {
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# 'move_group': {
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# 'planning_plugin': 'ompl_interface/OMPLPlanner',
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# 'request_adapters': """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
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# 'start_state_max_bounds_error': 0.1,
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# }
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#}
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#ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
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pilz_planning_pipeline_config = {
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'move_group': {
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@@ -431,7 +431,8 @@ def launch_setup(context, *args, **kwargs):
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arguments=['-d', rviz_config_file],
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parameters=[
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robot_description_parameters,
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ompl_planning_pipeline_config,
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#ompl_planning_pipeline_config,
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pilz_planning_pipeline_config,
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{'use_sim_time': use_sim_time},
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],
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remappings=[
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