Update planner_plugin parameters (Kinovarobotics#199)

sjahr · web-flow · commit 915df14e83fb · 2023-12-07T11:57:16.000-07:00
diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml
@@ -1,4 +1,5 @@
-planning_plugin: ompl_interface/OMPLPlanner
+planning_plugins:
+  - ompl_interface/OMPLPlanner
 request_adapters:
   - default_planning_request_adapters/ResolveConstraintFrames
   - default_planning_request_adapters/CheckStartStateBounds
diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ompl_planning.yaml
@@ -1,4 +1,5 @@
-planning_plugin: ompl_interface/OMPLPlanner
+planning_plugins:
+  - ompl_interface/OMPLPlanner
 request_adapters:
   - default_planning_request_adapters/ResolveConstraintFrames
   - default_planning_request_adapters/CheckStartStateBounds
diff --git a/kortex_moveit_config/launch/kortex_moveit.launch.py b/kortex_moveit_config/launch/kortex_moveit.launch.py
@@ -211,7 +211,7 @@ def generate_launch_description():
     # Planning Configuration
     ompl_planning_pipeline_config = {
         "move_group": {
-            "planning_plugin": "ompl_interface/OMPLPlanner",
+            "planning_plugins": ["ompl_interface/OMPLPlanner"],
             "request_adapters": [
                 "default_planning_request_adapters/ResolveConstraintFrames",
                 "default_planning_request_adapters/ValidateWorkspaceBounds",
