chomp_stomp planner fix

rigbetellabs · Aug 8, 2023 · 378da24 · 378da24
1 parent fe27235
commit 378da24
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Showing 3 changed files with 12 additions and 10 deletions.
diff --git a/scara_arm_config/launch/chomp_stomp_planning_pipeline.launch.xml b/scara_arm_config/launch/chomp_stomp_planning_pipeline.launch.xml
@@ -9,10 +9,11 @@
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision
-                default_planner_request_adapters/FixStartStatePathConstraints"
+                default_planner_request_adapters/FixStartStatePathConstraints
+                stomp_moveit/StompSmoothingAdapter"
                 />
-
-  <param name="planning_plugin" value="stomp_moveit/StompSmoothingAdapter" />
+  
+  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />

diff --git a/scara_arm_two_finger_gripper_config/launch/chomp_stomp_planning_pipeline.launch.xml b/scara_arm_two_finger_gripper_config/launch/chomp_stomp_planning_pipeline.launch.xml
@@ -8,11 +8,11 @@
                 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"
+                default_planner_request_adapters/FixStartStatePathConstraints
+                stomp_moveit/StompSmoothingAdapter"
                 />
-
-  <param name="planning_plugin" value="stomp_moveit/StompSmoothingAdapter" />
+  
+  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />

diff --git a/scara_arm_vacuum_gripper_config/launch/chomp_stomp_planning_pipeline.launch.xml b/scara_arm_vacuum_gripper_config/launch/chomp_stomp_planning_pipeline.launch.xml
@@ -9,10 +9,11 @@
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision
-                default_planner_request_adapters/FixStartStatePathConstraints"
+                default_planner_request_adapters/FixStartStatePathConstraints
+                stomp_moveit/StompSmoothingAdapter"
                 />
-
-  <param name="planning_plugin" value="stomp_moveit/StompSmoothingAdapter" />
+  
+  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />