moveit_py:
  ros__parameters:
    # Planning scene monitor configurations
    planning_scene_monitor_options:
      name: "planning_scene_monitor"
      robot_description: "robot_description"
      joint_states_topic: "/joint_states"

    # MoveItCpp configurations
    moveit_cpp_options:
      planning_scene_monitor_options:
        name: "planning_scene_monitor"
        robot_description: "robot_description"
        joint_states_topic: "/joint_states"
      planning_pipelines:
        - ompl

    # Define the planning pipeline properties
    ompl:
      planning_plugins:
        - ompl_interface/OMPLPlanner
      request_adapters:
        - default_planning_request_adapters/AddTimeOptimalParameterization
        - default_planning_request_adapters/ResolveConstraintFrames
        - default_planning_request_adapters/FixWorkspaceBounds
        - default_planning_request_adapters/FixStartStateBounds
        - default_planning_request_adapters/FixStartStateCollision
        - default_planning_request_adapters/FixStartStatePathConstraints
      response_adapters:
        - default_planning_request_adapters/DisplayMotionPath