Explicitly state which planning pipelines to use in demo launch (#521)

stephanie-eng · AndyZe · web-flow · commit b398d5c32607 · 2022-09-27T10:18:38.000-05:00
* Explicitly state which planning pipelines to use in demo launch

* Formatting fix

Co-authored-by: AndyZe &lt;zelenak@picknik.ai&gt;
diff --git a/doc/tutorials/quickstart_in_rviz/launch/demo.launch.py b/doc/tutorials/quickstart_in_rviz/launch/demo.launch.py
@@ -15,6 +15,9 @@ def generate_launch_description():
         MoveItConfigsBuilder("moveit_resources_panda")
         .robot_description(file_path="config/panda.urdf.xacro")
         .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
+        .planning_pipelines(
+            pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"]
+        )
         .to_moveit_configs()
     )
 

Original file line number	Diff line number	Diff line change
`@@ -15,6 +15,9 @@ def generate_launch_description():`
`15`	`15`	`MoveItConfigsBuilder("moveit_resources_panda")`
`16`	`16`	`.robot_description(file_path="config/panda.urdf.xacro")`
`17`	`17`	`.trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")`
	`18`	`+ .planning_pipelines(`
	`19`	`+ pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"]`
	`20`	`+ )`
`18`	`21`	`.to_moveit_configs()`
`19`	`22`	`)`
`20`	`23`