Further tune range

personalrobotics · Dec 3, 2024 · 5ea90f5 · 5ea90f5
1 parent 130109d
commit 5ea90f5
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/ada_moveit/config/ompl_planning.yaml b/ada_moveit/config/ompl_planning.yaml
@@ -8,13 +8,15 @@ request_adapters: >-
     default_planner_request_adapters/FixWorkspaceBounds
 # Based on Kinova's parameters: https://github.com/Kinovarobotics/kinova-ros/blob/noetic-devel/kinova_moveit/robot_configs/j2n6s300_moveit_config/config/ompl_planning.yaml
 planner_configs:
+  # NOTE: In practice, MoveIt2 hybridizes and shortcuts by default:
+  # https://github.com/moveit/moveit2/blob/e7872ebf92146bb80930ec98cf6c181e8384e99c/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp#L81
   AnytimePathShortening:
     type: geometric::AnytimePathShortening
     shortcut: 1  # Attempt to shortcut all new solution paths
     hybridize: 1  # Compute hybrid solution trajectories
     max_hybrid_paths: 8  # Number of hybrid paths generated per iteration
     num_planners: 4  # The number of default planners to use for planning
-    planners: "RRTConnect[intermediate_states=0 range=0.05]"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
+    planners: "RRTConnect[range=0.01]"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
   SBLkConfigDefault:
     type: geometric::SBL
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@@ -47,7 +49,7 @@ planner_configs:
   RRTConnectkConfigDefault:
     type: geometric::RRTConnect
     intermediate_states: 0 # Whether to add intermediate states to the plan, default 0
-    range: 0.05  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    range: 0.01  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
   RRTstarkConfigDefault:
     type: geometric::RRTstar
     range: 3.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() (in practice, for ADA, this default is ~7)