search

ros-industrial-consortium / descartes

ROS-Industrial Special Project: Cartesian Path Planner
Apache License 2.0
126 stars 92 forks source link

Ability to skip re-parsing URDF and instead pass in moveit::RobotModel #170

Closed davetcoleman closed 8 years ago

davetcoleman commented 8 years ago

The roscon_2015 demo requires the URDF to be parsed from string several times. This is slow, especially when running in debug mode or a profile. Since my application already has a loaded moveit::RobotModel, I want to just optionally pass it in. Simple.

jrgnicho commented 8 years ago

+1

Jmeyer1292 commented 8 years ago

We too have seen start up time be an issue. Would be nice to have this change in our new IKFastStateAdapter as well, but that can come later.