mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
19 lines
874 B
XML
19 lines
874 B
XML
<launch>
|
|
<!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
|
|
<include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
|
|
<arg name="planning_adapters" value="
|
|
default_planner_request_adapters/AddTimeParameterization
|
|
default_planner_request_adapters/FixWorkspaceBounds
|
|
default_planner_request_adapters/FixStartStateBounds
|
|
default_planner_request_adapters/FixStartStateCollision
|
|
default_planner_request_adapters/FixStartStatePathConstraints
|
|
chomp/OptimizerAdapter"
|
|
/>
|
|
</include>
|
|
|
|
<!-- load chomp config -->
|
|
<rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
|
|
|
|
<!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
|
|
<param name="trajectory_initialization_method" value="fillTrajectory"/>
|
|
</launch>
|