Use new Pro RRT SetupMTCPlanTo_ behaviors #76
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dyackzan
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marioprats
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Jan 9, 2025
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LGTM. I tested this on the different configs and added a new commit with some changes I had to make, mostly on the constrained planning Behaviors that work differently now, but also a couple of places where I had to get rid of the link padding.
I think this is ready to go now.
These new behaviors expose more planning parameters for the Pro RRT Connect planner. Replace: * `SetupMTCMoveToPose` -> `SetupMTCPlanToPose` * `SetupMTCMoveToJointState` -> `SetupMTCPlanToJointState` Update planning configuration ports: * Remove deprecated `planner_interface` port. * use `keep_orientation` and `keep_orientation_tolerance` ports instead of `constraints` port * Lower `link_padding` where it causes self collisions
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Thanks for adding those changes Mario! |
marioprats
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Jan 9, 2025
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Replace:
SetupMTCMoveToPose->SetupMTCPlanToPoseSetupMTCMoveToJointState->SetupMTCPlanToJointStateRemove deprecated
planner_interfaceport.The new behaviors expose more planning parameters for the Pro RRT Connect planner.
Will convert from draft once https://github.com/PickNikRobotics/moveit_studio/pull/10001, which adds the new behaviors in core goes in
Partially resolves https://github.com/PickNikRobotics/moveit_studio/issues/9811