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AndrejOrsula / pymoveit2

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services
BSD 3-Clause "New" or "Revised" License
137 stars 54 forks source link

Use different planner id (PILZ) #31

Closed mataruzz closed 5 months ago

mataruzz commented 1 year ago

Hi, I'm using your library to move a robotic arm. For some reason using the default planner I have problems in the planning. I would use the "_pilz_industrilal_motionplanner" as pipeline_id but I found it only inside "moveit2.py" (line 1182) and it is commented.

What would you suggest to change the default planner and set pilz? Is it possible without changing the source?

AndrejOrsula commented 1 year ago

Hello,

Have you tried configuring the default planner in the *_moveit_config package of your robot? The place and how you change it would depend on how your config/launch scripts are structured. Try consulting the MoveIt 2 documentation, as that would be up-to-date.

I have not tried it myself, but I believe you would generally need to change parameters planning_pipelines and default_planning_pipeline such that they point to the pilz configuration (assuming you have it configured and the plugin is installed on your system).

amalnanavati commented 6 months ago

@mataruzz I believe #48 resolves this.