43 lines
2.0 KiB
YAML
43 lines
2.0 KiB
YAML
planning_scene_monitor_options:
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name: "planning_scene_monitor"
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robot_description: "robot_description"
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joint_state_topic: "/joint_states"
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attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
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publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene"
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monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
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wait_for_initial_state_timeout: 10.0
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planning_pipelines:
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pipeline_names: ["ompl", "pilz_industrial_motion_planner", "chomp"]
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plan_request_params:
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planning_attempts: 1
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planning_pipeline: ompl
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max_velocity_scaling_factor: 1.0
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max_acceleration_scaling_factor: 1.0
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ompl_rrtc: # Namespace for individual plan request
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plan_request_params: # PlanRequestParameters similar to the ones that are used by the single pipeline planning of moveit_cpp
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planning_attempts: 1 # Number of attempts the planning pipeline tries to solve a given motion planning problem
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planning_pipeline: ompl # Name of the pipeline that is being used
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planner_id: "RRTConnectkConfigDefault" # Name of the specific planner to be used by the pipeline
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max_velocity_scaling_factor: 1.0 # Velocity scaling parameter for the trajectory generation algorithm that is called (if configured) after the path planning
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max_acceleration_scaling_factor: 1.0 # Acceleration scaling parameter for the trajectory generation algorithm that is called (if configured) after the path planning
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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
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pilz_lin:
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plan_request_params:
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planning_attempts: 1
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planning_pipeline: pilz_industrial_motion_planner
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planner_id: "PTP"
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max_velocity_scaling_factor: 1.0
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max_acceleration_scaling_factor: 1.0
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planning_time: 0.8
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chomp_planner:
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plan_request_params:
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planning_attempts: 1
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planning_pipeline: chomp
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max_velocity_scaling_factor: 1.0
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max_acceleration_scaling_factor: 1.0
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planning_time: 1.5 |