TOTG with Ruckig as post step

[Cody-Vu]

Hello everyone,

I tried to make use of Time-optimal Trajectory Generator and Ruckig smoothing algorithm to make the trajectory more smooth. I added them to the request adapters in ompl_planning_pipeline.launch.xml like this:

<arg name=”planning_adapters”
default=”default_planner_request_adapters/AddRuckigTrajectorySmoothing
default_planner_request_adapters/AddTimeOptimalParameterization 

But i could not notice any improvements. Do I need to install Ruckig seperately?
How do I know if TOTG and Ruckig get used?

Thank you very much if you can reply!