Add ResolveConstraintFrames to all planning pipelines

moveit · Nov 10, 2023 · 8fdfdc0 · 8fdfdc0
1 parent 0be98e1
commit 8fdfdc0
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Showing 11 changed files with 16 additions and 9 deletions.
diff --git a/dual_panda_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml b/dual_panda_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -3,6 +3,7 @@
   <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/ResolveConstraintFrames
        default_planner_request_adapters/FixWorkspaceBounds
        default_planner_request_adapters/FixStartStateBounds
        default_planner_request_adapters/FixStartStateCollision

diff --git a/dual_panda_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/dual_panda_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -1,7 +1,7 @@
 <launch>
 
   <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
-  <arg name="planning_adapters" default="" />
+  <arg name="planning_adapters" default="default_planner_request_adapters/ResolveConstraintFrames"/>
 
   <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
   <param name="request_adapters" value="$(arg planning_adapters)" />

diff --git a/dual_panda_moveit_config/launch/stomp_planning_pipeline.launch.xml b/dual_panda_moveit_config/launch/stomp_planning_pipeline.launch.xml
@@ -7,6 +7,7 @@
   <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
   <arg name="planning_adapters"
        default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision

diff --git a/fanuc_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/fanuc_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -5,7 +5,7 @@
 
   <!-- The request adapters (plugins) used when planning.
        ORDER MATTERS -->
-  <arg name="planning_adapters" value="" />
+  <arg name="planning_adapters" value="default_planner_request_adapters/ResolveConstraintFrames" />
 
   <arg name="start_state_max_bounds_error" value="0.1" />
 

diff --git a/panda_moveit_config/launch/lerp_planning_pipeline.launch.xml b/panda_moveit_config/launch/lerp_planning_pipeline.launch.xml
@@ -6,6 +6,7 @@
   <!-- The request adapters (plugins) used when planning with LERP. ORDER MATTERS! -->
   <arg name="planning_adapters"
        default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision

diff --git a/panda_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml b/panda_moveit_config/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -3,6 +3,7 @@
   <include file="$(dirname)/ompl_planning_pipeline.launch.xml">
     <arg name="planning_adapters"
          default="default_planner_request_adapters/AddTimeParameterization
+                  default_planner_request_adapters/ResolveConstraintFrames
                   default_planner_request_adapters/FixWorkspaceBounds
                   default_planner_request_adapters/FixStartStateBounds
                   default_planner_request_adapters/FixStartStateCollision

diff --git a/panda_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/panda_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -1,7 +1,7 @@
 <launch>
 
   <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
-  <arg name="planning_adapters" default="" />
+  <arg name="planning_adapters" default="default_planner_request_adapters/ResolveConstraintFrames" />
 
   <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
   <param name="request_adapters" value="$(arg planning_adapters)" />

diff --git a/panda_moveit_config/launch/stomp_planning_pipeline.launch.xml b/panda_moveit_config/launch/stomp_planning_pipeline.launch.xml
@@ -6,6 +6,7 @@
   <!-- The request adapters (plugins) ORDER MATTERS -->
   <arg name="planning_adapters"
        default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision

diff --git a/panda_moveit_config/launch/trajopt_planning_pipeline.launch.xml b/panda_moveit_config/launch/trajopt_planning_pipeline.launch.xml
@@ -6,6 +6,7 @@
   <!-- The request adapters (plugins) used when planning with TrajOpt. ORDER MATTERS! -->
   <arg name="planning_adapters"
        default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision

diff --git a/prbt_moveit_config/launch/ompl_planning_pipeline.launch.xml b/prbt_moveit_config/launch/ompl_planning_pipeline.launch.xml
@@ -3,13 +3,14 @@
   <!-- OMPL Plugin for MoveIt! -->
   <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
 
-  <!-- The request adapters (plugins) used when planning with OMPL. 
+  <!-- The request adapters (plugins) used when planning with OMPL.
        ORDER MATTERS -->
   <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" />
+            default_planner_request_adapters/ResolveConstraintFrames
+            default_planner_request_adapters/FixWorkspaceBounds
+            default_planner_request_adapters/FixStartStateBounds
+            default_planner_request_adapters/FixStartStateCollision
+            default_planner_request_adapters/FixStartStatePathConstraints" />
 
   <arg name="start_state_max_bounds_error" value="0.1" />
 

diff --git a/prbt_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/prbt_moveit_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -3,7 +3,7 @@
   <!-- Pilz Command Planner Plugin for MoveIt -->
   <arg name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
 
-  <arg name="planning_adapters" value="" />
+  <arg name="planning_adapters" value="default_planner_request_adapters/ResolveConstraintFrames"/>
 
   <arg name="start_state_max_bounds_error" value="0.1" />