Remove custom OMPL config

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
osrf · Nov 19, 2024 · b89f839 · b89f839
1 parent ff23973
commit b89f839
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Showing 5 changed files with 5 additions and 45 deletions.
diff --git a/nexus_integration_tests/launch/include/abb_irb1300_moveit.launch.py b/nexus_integration_tests/launch/include/abb_irb1300_moveit.launch.py
@@ -87,16 +87,8 @@ def launch_setup(context, *args, **kwargs):
 
     # Planning Functionality
     ompl_planning_pipeline_config = {
-        "move_group": {
-            "planning_plugins": ["ompl_interface/OMPLPlanner"],
-            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/ResolveConstraintFrames 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,
-        }
+        "move_group": load_yaml(moveit_config_package, "config/ompl_planning.yaml")
     }
-    ompl_planning_yaml = load_yaml(
-        "abb_irb1300_10_115_moveit_config", "config/ompl_planning.yaml"
-    )
-    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
     moveit_simple_controllers_yaml = load_yaml(

diff --git a/nexus_integration_tests/launch/include/abb_irb910sc_moveit.launch.py b/nexus_integration_tests/launch/include/abb_irb910sc_moveit.launch.py
@@ -88,16 +88,8 @@ def launch_setup(context, *args, **kwargs):
 
     # Planning Functionality
     ompl_planning_pipeline_config = {
-        "move_group": {
-            "planning_plugins": ["ompl_interface/OMPLPlanner"],
-            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/ResolveConstraintFrames 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,
-        }
+        "move_group": load_yaml(moveit_config_package, "config/ompl_planning.yaml")
     }
-    ompl_planning_yaml = load_yaml(
-        "abb_irb910sc_3_45_moveit_config", "config/ompl_planning.yaml"
-    )
-    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
     moveit_simple_controllers_yaml = load_yaml(

diff --git a/nexus_motion_planner/launch/demo_planner_server.launch.py b/nexus_motion_planner/launch/demo_planner_server.launch.py
@@ -95,16 +95,8 @@ def launch_setup(context, *args, **kwargs):
 
     # Planning Functionality
     ompl_planning_pipeline_config = {
-        "move_group": {
-            "planning_plugins": ["ompl_interface/OMPLPlanner"],
-            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/ResolveConstraintFrames 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,
-        }
+        "move_group": load_yaml(moveit_config_package, "config/ompl_planning.yaml")
     }
-    ompl_planning_yaml = load_yaml(
-        moveit_config_package.perform(context), "config/ompl_planning.yaml"
-    )
-    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
     moveit_simple_controllers_yaml = load_yaml(

diff --git a/nexus_motion_planner/test/test_request.test.py b/nexus_motion_planner/test/test_request.test.py
@@ -156,16 +156,8 @@ def generate_test_description():
 
     # Planning Functionality
     ompl_planning_pipeline_config = {
-        "move_group": {
-            "planning_plugins": ["ompl_interface/OMPLPlanner"],
-            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/ResolveConstraintFrames 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,
-        }
+        "move_group": load_yaml(moveit_config_package, "config/ompl_planning.yaml")
     }
-    ompl_planning_yaml = load_yaml(
-        moveit_config_package, "config/ompl_planning.yaml"
-    )
-    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
     moveit_simple_controllers_yaml = load_yaml(

diff --git a/nexus_motion_planner/test/test_request_with_cache.test.py b/nexus_motion_planner/test/test_request_with_cache.test.py
@@ -156,16 +156,8 @@ def generate_test_description():
 
     # Planning Functionality
     ompl_planning_pipeline_config = {
-        "move_group": {
-            "planning_plugins": ["ompl_interface/OMPLPlanner"],
-            "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/ResolveConstraintFrames 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,
-        }
+        "move_group": load_yaml(moveit_config_package, "config/ompl_planning.yaml")
     }
-    ompl_planning_yaml = load_yaml(
-        moveit_config_package, "config/ompl_planning.yaml"
-    )
-    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
     moveit_simple_controllers_yaml = load_yaml(