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add planner_adapter setMaxCartesianLinkSpeed to panda_arm #88

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add planner_adapter setMaxCartesianLinkSpeed to panda_arm #88

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ee92d68
setMaxCartesianLinkSpeed
gautz Jun 30, 2021
39b08b6
changed planning adapter name for consistency
gautz Jul 20, 2021
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3 changes: 2 additions & 1 deletion panda_moveit_config/launch/ompl_planning_pipeline.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,8 @@
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters"
value="default_planner_request_adapters/AddTimeParameterization
value="default_planner_request_adapters/setMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
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3 changes: 2 additions & 1 deletion panda_moveit_config/launch/trajopt_planning_pipeline.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,8 @@

<!-- The request adapters (plugins) used when planning with TrajOpt.
ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
<arg name="planning_adapters" value="default_planner_request_adapters/setMaxCartesianLinkSpeed
default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
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