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26 lines
1.2 KiB
XML
26 lines
1.2 KiB
XML
<launch>
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<!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
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<arg name="planning_adapters"
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default="default_planner_request_adapters/AddTimeParameterization
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default_planner_request_adapters/ResolveConstraintFrames
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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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/>
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<arg name="start_state_max_bounds_error" default="0.1" />
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<arg name="jiggle_fraction" default="0.05" />
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<param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
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<param name="request_adapters" value="$(arg planning_adapters)" />
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<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
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<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
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<!-- Add MoveGroup capabilities specific to this pipeline -->
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<!-- <param name="capabilities" value="" /> -->
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<rosparam command="load" file="$(find mybuddy_moveit)/config/ompl_planning.yaml"/>
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</launch>
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