nic/drawing-robot-ros2
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixes

Browse Source
This commit is contained in:
Nicolas Hiillos
2023-03-01 07:43:44 +02:00
parent fc957ac078
commit dd7893e207
2 changed files with 12 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/lite6_controller/launch/lite6_gazebo.launch.py
View File

@@ -369,7 +369,9 @@ def launch_setup(context, *args, **kwargs):
pilz_planning_pipeline_config = {
'move_group': {
'planning_plugin': 'pilz_industrial_motion_planner/CommandPlanner',
'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""",
# Disable AddTimeOptimalParameterization to fix motion blending https://github.com/ros-planning/moveit/issues/2905
'request_adapters': """default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
#'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""",
"default_planner_config": "PTP",
}
}