Refactor controller configuration and update planning parameters for improved performance

2026-05-14 07:29:47 +03:00
parent c3d1de7b01
commit 7eefdd66d5
8 changed files with 51 additions and 61 deletions
@@ -248,7 +248,7 @@ class IiwaMotionServer(Node):
            return response

        plan_params = self._make_plan_params(
-            "ompl", "RRTConnectkConfigDefault", 10.0, velocity_scale
+            "pilz_industrial_motion_planner", "PTP", 2.0, velocity_scale
        )
        plan_result = self._arm.plan(single_plan_parameters=plan_params)
        if not plan_result: