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Add servo node config to disable advertising /get_planning_scene #990

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Jun 11, 2024
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Add servo node config to disable advertising /get_planning_scene #990

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6 changes: 6 additions & 0 deletions ur_moveit_config/config/ur_servo.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,12 @@ publish_joint_accelerations: false
## Plugins for smoothing outgoing commands
smoothing_filter_plugin_name: "online_signal_smoothing::ButterworthFilterPlugin"

# If is_primary_planning_scene_monitor is set to true, the Servo server's PlanningScene advertises the /get_planning_scene service,
# which other nodes can use as a source for information about the planning environment.
# NOTE: If a different node in your system is responsible for the "primary" planning scene instance (e.g. the MoveGroup node),
# then is_primary_planning_scene_monitor needs to be set to false.
is_primary_planning_scene_monitor: false

## Incoming Joint State properties
low_pass_filter_coeff: 10.0 # Larger --> trust the filtered data more, trust the measurements less.

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