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moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot
http://docs.ros.org/kinetic/api/moveit_tutorials/html/
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The order of planning_adapters in moveit planner pipeline #56

Closed jsbyysheng closed 4 years ago

jsbyysheng commented 4 years ago

The planning_adapters of ompl_planning_pipeline.launch.xml in panda_moveit_config(kinetic-devel) is the order of the following:

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

However, The planning_adapters of ompl_planning_pipeline.launch.xml in panda_moveit_config(melodic-devel) is the order of the following:

default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/AddTimeParameterization"

I am very confused about why default_planner_request_adapters/AddTimeParameterization changes the order in planning_adapters ? Is that a bug ?

rhaschke commented 4 years ago

No, actually it works both ways around because the adapters choose themselves whether to run before or after the actual planner.