stomp_planning_pipeline.launch.xml

<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="" /> -->

  <!-- Load parameters for both groups, panda_arm and manipulator -->
  <group ns="panda_arm">
    <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml" />
    <param name="group_name" value="panda_arm" />
  </group>
  <group ns="manipulator">
    <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml" />
    <param name="group_name" value="manipulator" />
  </group>

</launch>