Marcin M
30 lines
1.1 KiB
YAML
30 lines
1.1 KiB
YAML
moveit_py:
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ros__parameters:
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# Planning scene monitor configurations
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planning_scene_monitor_options:
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name: "planning_scene_monitor"
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robot_description: "robot_description"
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joint_states_topic: "/joint_states"
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# MoveItCpp configurations
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moveit_cpp_options:
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planning_scene_monitor_options:
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name: "planning_scene_monitor"
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robot_description: "robot_description"
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joint_states_topic: "/joint_states"
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planning_pipelines:
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- ompl
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# Define the planning pipeline properties
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ompl:
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planning_plugins:
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- ompl_interface/OMPLPlanner
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request_adapters:
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- default_planning_request_adapters/AddTimeOptimalParameterization
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- default_planning_request_adapters/ResolveConstraintFrames
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- default_planning_request_adapters/FixWorkspaceBounds
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- default_planning_request_adapters/FixStartStateBounds
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- default_planning_request_adapters/FixStartStateCollision
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- default_planning_request_adapters/FixStartStatePathConstraints
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response_adapters:
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- default_planning_request_adapters/DisplayMotionPath |