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24 lines
997 B
24 lines
997 B
<launch>
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<!-- OMPL Plugin for MoveIt -->
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<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
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<!-- The request adapters (plugins) used when planning with OMPL.
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ORDER MATTERS -->
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<arg name="planning_adapters"
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value="default_planner_request_adapters/AddTimeParameterization
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default_planner_request_adapters/FixWorkspaceBounds
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default_planner_request_adapters/FixStartStateBounds
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default_planner_request_adapters/FixStartStateCollision
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default_planner_request_adapters/FixStartStatePathConstraints"
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/>
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<arg name="start_state_max_bounds_error" value="0.1" />
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<param name="planning_plugin" value="$(arg planning_plugin)" />
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<param name="request_adapters" value="$(arg planning_adapters)" />
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<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
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<rosparam command="load" file="$(find stretch_moveit_config)/config/ompl_planning.yaml"/>
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</launch>
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