Solver settings: adaptive rho

tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS

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Solver settings: adaptive rho #367

Closed rjoomen closed 4 months ago

rjoomen commented 10 months ago

I found another TrajOptIfopt-related issue: tesseract_planning still has adaptive rho switched off, whereas some time ago the default was supposedly changed to true for TrajOpt and TrajOptIfopt.

I have a PR in the works that exposes the OSQPSettings via the TrajOptIfoptDefaultSolverProfile with the correct defaults.