From f2dedbd7c12f2428173d16e2f0f47e18581118e7 Mon Sep 17 00:00:00 2001
From: tnaka <tnaka@users.noreply.github.com>
Date: Mon, 10 Aug 2020 17:15:55 +0900
Subject: [PATCH] Fix ordering of planning adapters (#69)
As explained in https://github.com/ros-planning/moveit/pull/2053
AddTimeParameterization should be at the begining of the list.
---
launch/chomp_planning_pipeline.launch.xml | 4 ++--
launch/ompl-chomp_planning_pipeline.launch.xml | 4 ++--
launch/ompl_planning_pipeline.launch.xml | 6 +++---
launch/stomp_planning_pipeline.launch.xml | 6 +++---
4 files changed, 10 insertions(+), 10 deletions(-)
diff --git a/launch/chomp_planning_pipeline.launch.xml b/launch/chomp_planning_pipeline.launch.xml
index 456cbe2..0fb092f 100644
--- a/launch/chomp_planning_pipeline.launch.xml
+++ b/launch/chomp_planning_pipeline.launch.xml
@@ -5,12 +5,12 @@
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="
+ default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
- default_planner_request_adapters/ResolveConstraintFrames
- default_planner_request_adapters/AddTimeParameterization"
+ default_planner_request_adapters/ResolveConstraintFrames"
/>
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
diff --git a/launch/ompl-chomp_planning_pipeline.launch.xml b/launch/ompl-chomp_planning_pipeline.launch.xml
index 9c2b706..061bd62 100644
--- a/launch/ompl-chomp_planning_pipeline.launch.xml
+++ b/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -2,12 +2,12 @@
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
<include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
<arg name="planning_adapters" value="
+ 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
- chomp/OptimizerAdapter
- default_planner_request_adapters/AddTimeParameterization"
+ chomp/OptimizerAdapter"
/>
</include>
<!-- load chomp config -->
diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ompl_planning_pipeline.launch.xml
index 37d9e68..de9a542 100644
--- a/launch/ompl_planning_pipeline.launch.xml
+++ b/launch/ompl_planning_pipeline.launch.xml
@@ -6,12 +6,12 @@
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters" default="
+ default_planner_request_adapters/AddTimeParameterization
+ default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
- default_planner_request_adapters/FixStartStatePathConstraints
- default_planner_request_adapters/ResolveConstraintFrames
- default_planner_request_adapters/AddTimeParameterization"
+ default_planner_request_adapters/FixStartStatePathConstraints"
/>
<arg name="start_state_max_bounds_error" value="0.1" />
diff --git a/launch/stomp_planning_pipeline.launch.xml b/launch/stomp_planning_pipeline.launch.xml
index 496de4e..fccaeab 100644
--- a/launch/stomp_planning_pipeline.launch.xml
+++ b/launch/stomp_planning_pipeline.launch.xml
@@ -4,11 +4,11 @@
<arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
<!-- The request adapters (plugins) ORDER MATTERS -->
- <arg name="planning_adapters" value="default_planner_request_adapters/FixWorkspaceBounds
+ <arg name="planning_adapters" value="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
- default_planner_request_adapters/AddTimeParameterization" />
+ default_planner_request_adapters/FixStartStatePathConstraints" />
<arg name="start_state_max_bounds_error" value="0.1" />
--
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