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20 lines
1 KiB
XML
20 lines
1 KiB
XML
<launch>
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<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
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<include file="$(find mycobot_pro450_moveit)/launch/ompl_planning_pipeline.launch.xml">
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<arg name="planning_adapters"
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default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
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default_planner_request_adapters/AddTimeParameterization
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default_planner_request_adapters/FixWorkspaceBounds
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default_planner_request_adapters/FixStartStateBounds
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default_planner_request_adapters/FixStartStateCollision
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default_planner_request_adapters/FixStartStatePathConstraints
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chomp/OptimizerAdapter"
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/>
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</include>
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<!-- load chomp config -->
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<rosparam command="load" file="$(find mycobot_pro450_moveit)/config/chomp_planning.yaml" />
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<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
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<param name="trajectory_initialization_method" value="fillTrajectory"/>
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</launch>
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