Working arm

2026-06-04 21:48:44 +02:00
commit 5b46c41031
34 changed files with 1073 additions and 0 deletions
@@ -0,0 +1,30 @@
+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