595fbe7745
- openarm_bringup: ros2_control bringup - openarm_hardware: hardware interface for ros2_control
39 lines
921 B
YAML
39 lines
921 B
YAML
openarm_moveit_config:
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default_planner_config: RRTConnect
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planner_configs:
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- AnytimePathShortening
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- SBL
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- EST
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- LBKPIECE
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- BKPIECE
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- KPIECE
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- RRT
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- RRTConnect
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- RRTstar
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- TRRT
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- PRM
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- PRMstar
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- FMT
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- BFMT
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- PDST
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- STRIDE
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- BiTRRT
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- LBTRRT
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- BiEST
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- ProjEST
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- LazyPRM
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- LazyPRMstar
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- SPARS
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- SPARStwo
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projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
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longest_valid_segment_fraction: 0.005
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planning_plugin: 'ompl_interface/OMPLPlanner'
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request_adapters: >-
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default_planner_request_adapters/AddTimeOptimalParameterization
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default_planner_request_adapters/FixWorkspaceBounds
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default_planner_request_adapters/FixStartStateBounds
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default_planner_request_adapters/FixStartStateCollision
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default_planner_request_adapters/FixStartStatePathConstraints
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start_state_max_bounds_error: 0.1
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