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Adds lerp planning_example #5

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Oct 13, 2021
Merged

Adds lerp planning_example #5

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1 change: 1 addition & 0 deletions config/lerp_planning.yaml
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num_steps: 40
6 changes: 6 additions & 0 deletions launch/demo_lerp.launch
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<launch>
<include file="$(dirname)/demo.launch">
<arg name="pipeline" value="lerp"/>
</include>
</launch>
22 changes: 22 additions & 0 deletions launch/lerp_planning_pipeline.launch.xml
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<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>