From f2b44fef01ea476d516c9ed87ae9cd35f09e7c34 Mon Sep 17 00:00:00 2001
From: jsbyysheng <jsbyysheng@gmail.com>
Date: Fri, 27 Mar 2020 16:38:33 +0800
Subject: [PATCH] Add time parameterization in stomp_planning_pipeline.launch
 (#59)

---
 launch/stomp_planning_pipeline.launch.xml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/launch/stomp_planning_pipeline.launch.xml b/launch/stomp_planning_pipeline.launch.xml
index 7e1c5b8..496de4e 100644
--- a/launch/stomp_planning_pipeline.launch.xml
+++ b/launch/stomp_planning_pipeline.launch.xml
@@ -7,7 +7,8 @@
   <arg name="planning_adapters" value="default_planner_request_adapters/FixWorkspaceBounds
                                        default_planner_request_adapters/FixStartStateBounds
                                        default_planner_request_adapters/FixStartStateCollision
-                                       default_planner_request_adapters/FixStartStatePathConstraints" />
+                                       default_planner_request_adapters/FixStartStatePathConstraints
+                                       default_planner_request_adapters/AddTimeParameterization" />
 
   <arg name="start_state_max_bounds_error" value="0.1" />
 
-- 
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