Running OMPL as a pre-processor for CHOMP

最新推荐文章于 2022-01-01 06:30:00 发布

小弧光

最新推荐文章于 2022-01-01 06:30:00 发布

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分类专栏： ros

本文链接：https://blog.csdn.net/itfanr/article/details/88867288

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<launch>

  <!-- OMPL Plugin for MoveIt! -->
  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />

  <!-- The request adapters (plugins) used when planning with OMPL. 
       ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/FixWorkspaceBounds
            default_planner_request_adapters/FixStartStateBounds
            default_planner_request_adapters/FixStartStateCollision
            default_planner_request_adapters/FixStartStatePathConstraints
            default_planner_request_adapters/CHOMPOptimizerAdapter
            default_planner_request_adapters/AddTimeParameterization" />

  <arg name="start_state_max_bounds_error" value="0.1" />

  <param name="planning_plugin" value="$(arg planning_plugin)" />
  <param name="request_adapters" value="$(arg planning_ada