Update configs

sjahr · Oct 17, 2023 · 591f4a3 · 591f4a3
1 parent 3c006c3
commit 591f4a3
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Showing 5 changed files with 9 additions and 7 deletions.
diff --git a/moveit_configs_utils/default_configs/chomp_planning.yaml b/moveit_configs_utils/default_configs/chomp_planning.yaml
@@ -1,4 +1,5 @@
-planning_plugin: chomp_interface/CHOMPPlanner
+planning_plugin:
+  - chomp_interface/CHOMPPlanner
 enable_failure_recovery: true
 jiggle_fraction: 0.05
 # The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.

diff --git a/moveit_configs_utils/default_configs/ompl_planning.yaml b/moveit_configs_utils/default_configs/ompl_planning.yaml
@@ -1,4 +1,5 @@
-planning_plugin: ompl_interface/OMPLPlanner
+planning_plugins:
+  - ompl_interface/OMPLPlanner
 start_state_max_bounds_error: 0.1
 jiggle_fraction: 0.05
 # The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.

diff --git a/moveit_configs_utils/default_configs/pilz_industrial_motion_planner_planning.yaml b/moveit_configs_utils/default_configs/pilz_industrial_motion_planner_planning.yaml
@@ -1,5 +1,5 @@
-planning_plugin: pilz_industrial_motion_planner/CommandPlanner
-# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
+planning_plugins:
+  - pilz_industrial_motion_planner/CommandPlanner
 request_adapters: ""
 default_planner_config: PTP
 capabilities: >-

diff --git a/moveit_configs_utils/default_configs/stomp_planning.yaml b/moveit_configs_utils/default_configs/stomp_planning.yaml
@@ -1,5 +1,5 @@
-planning_plugin: stomp_moveit/StompPlanner
-# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
+planning_plugins:
+  - stomp_moveit/StompPlanner
 request_adapters:
   - default_planner_request_adapters/ResolveConstraintFrames
   - default_planner_request_adapters/FixWorkspaceBounds

diff --git a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
@@ -129,7 +129,7 @@ void planning_pipeline::PlanningPipeline::configure()
     // Check if planner is not NULL
     if (!planner_instance)
     {
-      throw std::runtime_error("Unable to initialize planning plugin " + planner_name);
+      throw std::runtime_error("Unable to initialize planning plugin " + planner_name + ". Planner instance is nullptr.");
     }
 
     // Initialize planner