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Rick Staa authored
This commit adds the files needed for running the trajopt planner example that is found in the [moveit_tutorials](https://ros-planning.github.io/moveit_tutorials/doc/trajopt_planner/trajopt_planner_tutorial.html). This planner is not included into `move_group.launch` by default but can be invoked via the `pipeline` argument. This was done since it is not yet officially released (see https://github.com/ros-planning/moveit/issues/1467).
e3dcf60b
trajopt_planning_pipeline.launch.xml 1.52 KiB
<launch>
<!-- TrajOpt Plugin for MoveIt -->
<arg name="planning_plugin" value="trajopt_interface/TrajOptPlanner" />
<!-- define capabilites that are loaded on start (space seperated) -->
<arg name="capabilities" default=""/>
<!-- inhibit capabilites (space seperated) -->
<arg name="disable_capabilities" default=""/>
<!-- The request adapters (plugins) used when planning with TrajOpt.
ORDER MATTERS -->
<arg name="planning_adapters" default="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<arg name="start_state_max_bounds_error" default="0.1" />
<arg name="jiggle_fraction" default="0.05" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<param name="capabilities" value="$(arg capabilities)" />
<param name="disable_capabilities" value="$(arg disable_capabilities)" />
<rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
</launch>