In its initial form, this library merely used MoveIt's default OMPL parameters, located here. However, this does not allow us to make local changes to the parameters, nor does it allow us to benefit from work Kinova has already done to configure OMPL planners.
This PR creates ompl_planning.yaml and populates it with the following:
Adds enforce_constrained_state_space and projection_evaluator, as suggested by this MoveIt Tutorial. These settings enable us to use OMPL's Constrained Planning capabilities, which greatly speeds up planning with e.g., orientation path constraints.
In its initial form, this library merely used MoveIt's default OMPL parameters, located here. However, this does not allow us to make local changes to the parameters, nor does it allow us to benefit from work Kinova has already done to configure OMPL planners.
This PR creates
ompl_planning.yamland populates it with the following:enforce_constrained_state_spaceandprojection_evaluator, as suggested by this MoveIt Tutorial. These settings enable us to use OMPL's Constrained Planning capabilities, which greatly speeds up planning with e.g., orientation path constraints.