From ce117177cfeabedab6ae145534089a21cb7e6c2e Mon Sep 17 00:00:00 2001 From: mizonon Date: Tue, 12 Nov 2024 14:41:36 +0900 Subject: [PATCH] =?UTF-8?q?crane=5Fx7=5Fexamples=5Fpy=E7=94=A8=E3=81=AE?= =?UTF-8?q?=E8=A8=AD=E5=AE=9A=E3=83=95=E3=82=A1=E3=82=A4=E3=83=AB=E4=BD=9C?= =?UTF-8?q?=E6=88=90?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../config/crane_x7_moveit_py_examples.yaml | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100644 crane_x7_examples_py/config/crane_x7_moveit_py_examples.yaml diff --git a/crane_x7_examples_py/config/crane_x7_moveit_py_examples.yaml b/crane_x7_examples_py/config/crane_x7_moveit_py_examples.yaml new file mode 100644 index 0000000..bf3489e --- /dev/null +++ b/crane_x7_examples_py/config/crane_x7_moveit_py_examples.yaml @@ -0,0 +1,26 @@ +planning_scene_monitor_options: + name: "planning_scene_monitor" + robot_description: "robot_description" + joint_state_topic: "/joint_states" + attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor" + publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene" + monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene" + wait_for_initial_state_timeout: 10.0 + +planning_pipelines: + pipeline_names: ["ompl"] + +plan_request_params: + planning_attempts: 1 + planning_pipeline: ompl + max_velocity_scaling_factor: 1.0 + max_acceleration_scaling_factor: 1.0 + +ompl_rrtc: # Namespace for individual plan request + plan_request_params: # PlanRequestParameters similar to the ones that are used by the single pipeline planning of moveit_cpp + planning_attempts: 1 # Number of attempts the planning pipeline tries to solve a given motion planning problem + planning_pipeline: ompl # Name of the pipeline that is being used + planner_id: "RRTConnectkConfigDefault:" # Name of the specific planner to be used by the pipeline + max_velocity_scaling_factor: 1.0 # Velocity scaling parameter for the trajectory generation algorithm that is called (if configured) after the path planning + max_acceleration_scaling_factor: 1.0 # Acceleration scaling parameter for the trajectory generation algorithm that is called (if configured) after the path planning + planning_time: 5.0 # Time budget for the motion plan request. If the planning problem cannot be solved within this time, an empty solution with error code is returned