fix move_group_node crash during initialization (#906)

- change planning plugin to a list of plugins, according to the change introduced in 12/2023 in moveit rolling. - split request_adapters to request_adapters and response_adapters, according to the refactor of planning pipeline introduced in 10/2023 in moveit rolling.
UniversalRobots · Jan 24, 2024 · e5ba31c · e5ba31c
1 parent 8fb6389
commit e5ba31c
Showing 1 changed file with 12 additions and 3 deletions.
diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py
@@ -156,9 +156,18 @@ def launch_setup(context, *args, **kwargs):
     # Planning Configuration
     ompl_planning_pipeline_config = {
         "move_group": {
-            "planning_plugin": "ompl_interface/OMPLPlanner",
-            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
-            "start_state_max_bounds_error": 0.1,
+            "planning_plugins": ["ompl_interface/OMPLPlanner"],
+            "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",
+            ],
         }
     }
     ompl_planning_yaml = load_yaml("ur_moveit_config", "config/ompl_planning.yaml")