Tune parameters

ada_moveit/config/ompl_planning.yaml

@@ -15,9 +15,9 @@ planner_configs:
     type: geometric::AnytimePathShortening
     shortcut: 1  # Attempt to shortcut all new solution paths
     hybridize: 1  # Compute hybrid solution trajectories
-    max_hybrid_paths: 24  # Number of hybrid paths generated per iteration
+    max_hybrid_paths: 8  # Number of hybrid paths generated per iteration
     num_planners: 4  # The number of default planners to use for planning
-    planners: "RRTConnect"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
+    planners: "RRTConnect[intermediate_states=0 range=0.05]"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
   SBLkConfigDefault:
     type: geometric::SBL
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@@ -49,7 +49,8 @@ planner_configs:
     goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
   RRTConnectkConfigDefault:
     type: geometric::RRTConnect
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    intermediate_states: 0 # Whether to add intermediate states to the plan, default 0
+    range: 0.05  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
   RRTstarkConfigDefault:
     type: geometric::RRTstar
     range: 3.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() (in practice, for ADA, this default is ~7)
@@ -88,8 +89,6 @@ jaco_arm:
     - PRMkConfigDefault
     - PRMstarkConfigDefault
 hand:
-  enforce_constrained_state_space: true
-  projection_evaluator: joints(j2n6s200_joint_1,j2n6s200_joint_2)
   planner_configs:
     - SBLkConfigDefault
     - ESTkConfigDefault

ada_moveit/launch/demo.launch.py

@@ -261,7 +261,9 @@ def generate_launch_description():
             package="controller_manager",
             executable="ros2_control_node",
             parameters=[robot_description, robot_controllers],
-            arguments=["--ros-args", "--log-level", log_level],
+            # Commented out the log-level since the joint state publisher logs every joint read
+            # when on debug level
+            arguments=["--ros-args"],#, "--log-level", log_level],
         )
     )