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Add OMPL and pilz configs #155

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Dec 21, 2023
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Add OMPL and pilz configs #155

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13 changes: 13 additions & 0 deletions src/picknik_ur_base_config/config/moveit/ompl_planning.yaml
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Original file line number Diff line number Diff line change
@@ -1,3 +1,16 @@
planning_plugins:
- ompl_interface/OMPLPlanner
# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
request_adapters:
- default_planning_request_adapters/ResolveConstraintFrames
- default_planning_request_adapters/ValidateWorkspaceBounds
- default_planning_request_adapters/CheckStartStateBounds
- default_planning_request_adapters/CheckStartStateCollision
response_adapters:
- default_planning_response_adapters/AddTimeOptimalParameterization
- default_planning_response_adapters/ValidateSolution
- default_planning_response_adapters/DisplayMotionPath

planner_configs:
APSConfigDefault:
type: geometric::AnytimePathShortening
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14 changes: 14 additions & 0 deletions src/picknik_ur_base_config/config/moveit/pilz_industrial_motion_planner_planning.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
planning_plugins:
- pilz_industrial_motion_planner/CommandPlanner
default_planner_config: LIN
request_adapters:
- default_planning_request_adapters/ResolveConstraintFrames
- default_planning_request_adapters/ValidateWorkspaceBounds
- default_planning_request_adapters/CheckStartStateBounds
- default_planning_request_adapters/CheckStartStateCollision
response_adapters:
- default_planning_response_adapters/ValidateSolution
- default_planning_response_adapters/DisplayMotionPath
capabilities: >-
pilz_industrial_motion_planner/MoveGroupSequenceAction
pilz_industrial_motion_planner/MoveGroupSequenceService