From da823a6c0b7168b23d275000b895bffa87dbc346 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 13 Sep 2017 00:50:37 +0200 Subject: [PATCH] ur3_moveit_cfg: reduce longest_valid_segment_fraction. Refer to discussion in ros-industrial/universal_robot#265. --- ur3_moveit_config/config/ompl_planning.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ur3_moveit_config/config/ompl_planning.yaml b/ur3_moveit_config/config/ompl_planning.yaml index 1c7853a54..b58b2d655 100644 --- a/ur3_moveit_config/config/ompl_planning.yaml +++ b/ur3_moveit_config/config/ompl_planning.yaml @@ -67,7 +67,7 @@ manipulator: - 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 + longest_valid_segment_fraction: 0.01 endeffector: planner_configs: - SBLkConfigDefault