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moveit / moveit_ros

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Kei okada's - get default planner from param #625

Closed sachinchitta closed 8 years ago

sachinchitta commented 8 years ago

@rhaschke - this param is only used to set the default planner for when the Rviz plugin gets brought up - currently it comes up as "unspecified". Assigning default planners per group would be useful but it should happen separately from this PR. Maybe we should rename this param to "rviz_default_planner_config" to minimize confusion.

rhaschke commented 8 years ago

My adaption loads the default_planner_config from the move_group's namespace, considering also the selected group when there is a configuration for it. Hence in ompl_planning.yaml, one can now specify:

arm:
  default_planner_config: RRTConnectkConfigDefault
  planner_configs:
    - RRTkConfigDefault
    - RRTConnectkConfigDefault

Obviously, one can overwrite that setting manually in launch files - after loading the yaml defaults.

The same default could be used by the move_group node too. However, there is a heuristic to choose a config if I remember correctly. @k-okada Do you like that modification?

sachinchitta commented 8 years ago

Nice change! @rhaschke