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", "pilz_industrial_motion_planner", "chomp"]

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: 1.0  # 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

pilz_lin:
  plan_request_params:
    planning_attempts: 1
    planning_pipeline: pilz_industrial_motion_planner
    planner_id: "PTP"
    max_velocity_scaling_factor: 1.0
    max_acceleration_scaling_factor: 1.0
    planning_time: 0.8

chomp_planner:
  plan_request_params:
    planning_attempts: 1
    planning_pipeline: chomp
    max_velocity_scaling_factor: 1.0
    max_acceleration_scaling_factor: 1.0
    planning_time: 1.5