From f518c4c09b68e271befa673d73d0a186a1ae4237 Mon Sep 17 00:00:00 2001
From: Marco Esposito <marco.esposito@tum.de>
Date: Tue, 14 Jul 2015 13:01:38 +0200
Subject: [PATCH] Adding comment explaining the choice of default planning
algorithm
---
ur10_moveit_config/config/ompl_planning.yaml | 2 ++
ur5_moveit_config/config/ompl_planning.yaml | 2 ++
2 files changed, 4 insertions(+)
diff --git a/ur10_moveit_config/config/ompl_planning.yaml b/ur10_moveit_config/config/ompl_planning.yaml
index 2af548e..8f74383 100644
--- a/ur10_moveit_config/config/ompl_planning.yaml
+++ b/ur10_moveit_config/config/ompl_planning.yaml
@@ -34,6 +34,8 @@ manipulator:
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
+ ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
+ #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
longest_valid_segment_fraction: 0.05
endeffector:
planner_configs:
diff --git a/ur5_moveit_config/config/ompl_planning.yaml b/ur5_moveit_config/config/ompl_planning.yaml
index 2af548e..8f74383 100644
--- a/ur5_moveit_config/config/ompl_planning.yaml
+++ b/ur5_moveit_config/config/ompl_planning.yaml
@@ -34,6 +34,8 @@ manipulator:
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
+ ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
+ #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
longest_valid_segment_fraction: 0.05
endeffector:
planner_configs:
--
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