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Humble: Add OMPL config to moveit_cpp.yaml #1040

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Merged
AndyZe merged 1 commit into from
Apr 20, 2025
Merged

Humble: Add OMPL config to moveit_cpp.yaml #1040

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16 changes: 16 additions & 0 deletions doc/examples/moveit_cpp/config/moveit_cpp.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,22 @@ planning_scene_monitor_options:
planning_pipelines:
#namespace: "moveit_cpp" # optional, default is ~
pipeline_names: ["ompl"]
ompl:
planning_plugin: ompl_interface/OMPLPlanner
request_adapters: >-
default_planner_request_adapters/AddTimeOptimalParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
planner_configs:
PRMstarkConfigDefault:
type: geometric::PRMstar
# Define planner(s) for each move_group
panda_arm:
planner_configs:
- PRMstarkConfigDefault
# Add additional planning pipeline config here

plan_request_params:
planning_attempts: 1
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