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stomp_planning_pipeline.launch.xml

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    Add STOMP planner config
    Rick Staa authored and Robert Haschke committed 
    * Add stomp planner

This commit adds all the scripts needed to run the STOMP planner example in the
[stomp_planner_tutorial](https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html).
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    stomp_planning_pipeline.launch.xml 1.27 KiB 
    <launch>
  <!-- Stomp Plugin for MoveIt! -->
  <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />

  <arg name="start_state_max_bounds_error" value="0.1" />
  <arg name="jiggle_fraction" value="0.05" />
  <!-- The request adapters (plugins) used when planning.
       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" />


  <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)" />

  <!-- Add MoveGroup capabilities specific to this pipeline -->
  <!-- <param name="capabilities" value="" /> -->

  <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml"/>
</launch>