From 33fabfb16189542c0e5e825613cbe9814022ab8c Mon Sep 17 00:00:00 2001
From: rickstaa <rick.staa@outlook.com>
Date: Mon, 30 Aug 2021 09:53:21 +0200
Subject: [PATCH] Adds lerp planning_example

This commit adds all the files that are needed to run the
[lerp_planning_example](https://ros-planning.github.io/moveit_tutorials/doc/creating_moveit_plugins/plugin_tutorial.html?highlight=lerp)
example.
---
 config/lerp_planning.yaml                |  1 +
 launch/demo_lerp.launch                  |  6 ++++++
 launch/lerp_planning_pipeline.launch.xml | 22 ++++++++++++++++++++++
 3 files changed, 29 insertions(+)
 create mode 100644 config/lerp_planning.yaml
 create mode 100644 launch/demo_lerp.launch
 create mode 100644 launch/lerp_planning_pipeline.launch.xml

diff --git a/config/lerp_planning.yaml b/config/lerp_planning.yaml
new file mode 100644
index 0000000..9d2eebd
--- /dev/null
+++ b/config/lerp_planning.yaml
@@ -0,0 +1 @@
+num_steps: 40
diff --git a/launch/demo_lerp.launch b/launch/demo_lerp.launch
new file mode 100644
index 0000000..2427adb
--- /dev/null
+++ b/launch/demo_lerp.launch
@@ -0,0 +1,6 @@
+
+<launch>
+  <include file="$(find panda_moveit_config)/launch/demo.launch">
+    <arg name="pipeline" value="lerp"/>
+  </include>
+</launch>
\ No newline at end of file
diff --git a/launch/lerp_planning_pipeline.launch.xml b/launch/lerp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..c119357
--- /dev/null
+++ b/launch/lerp_planning_pipeline.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- LERP Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="lerp_interface/LERPPlanner" />
+
+  <!-- The request adapters (plugins) used when planning with TrajOpt.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find panda_moveit_config)/config/lerp_planning.yaml"/>
+
+</launch>