Update joint acceleration limits . (#88)

Update ompl_planning.

Co-authored-by: Lars Glud <[email protected]>

Author: larshg

robot_specific_config/abb_irb1200_5_90_moveit_config/config/joint_limits.yaml

@@ -5,30 +5,30 @@ joint_limits:
   joint_1:
     has_velocity_limits: true
     max_velocity: 5.027
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 5.0 # should be updated to actual values (all max_accelerations).
   joint_2:
     has_velocity_limits: true
     max_velocity: 4.189
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
   joint_3:
     has_velocity_limits: true
     max_velocity: 5.236
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
   joint_4:
     has_velocity_limits: true
     max_velocity: 6.981
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
   joint_5:
     has_velocity_limits: true
     max_velocity: 7.069
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
   joint_6:
     has_velocity_limits: true
     max_velocity: 10.472
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 5.0

robot_specific_config/abb_irb1200_5_90_moveit_config/config/ompl_planning.yaml

@@ -1,12 +1,14 @@
-planning_plugin: ompl_interface/OMPLPlanner
-request_adapters: >-
-  default_planner_request_adapters/AddTimeOptimalParameterization
-  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
-start_state_max_bounds_error: 0.1
+planning_plugins:
+  - ompl_interface/OMPLPlanner
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
 planner_configs:
   SBLkConfigDefault:
     type: geometric::SBL