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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>