From e5ba31cd38c34076f95b25a047daaa16f7c3466c Mon Sep 17 00:00:00 2001 From: Chen Chen Date: Wed, 24 Jan 2024 23:17:38 +0800 Subject: [PATCH] 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. --- ur_moveit_config/launch/ur_moveit.launch.py | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/ur_moveit_config/launch/ur_moveit.launch.py b/ur_moveit_config/launch/ur_moveit.launch.py index cd7436054..07a46ed60 100644 --- 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")