From dc0907b2472a09e6aac49a4e615bc503e69a1ed7 Mon Sep 17 00:00:00 2001 From: Shubham Date: Wed, 26 Jul 2023 15:33:08 +0200 Subject: [PATCH] Update default planning configs to use AddTimeOptimalParameterization referring https://github.com/ros-planning/moveit2/pull/2167 --- webots_ros2_universal_robot/resource/moveit_movegroup.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/webots_ros2_universal_robot/resource/moveit_movegroup.yaml b/webots_ros2_universal_robot/resource/moveit_movegroup.yaml index 3b98e36ac..8ba27cfaa 100644 --- a/webots_ros2_universal_robot/resource/moveit_movegroup.yaml +++ b/webots_ros2_universal_robot/resource/moveit_movegroup.yaml @@ -1,9 +1,8 @@ planning_plugin: ompl_interface/OMPLPlanner request_adapters: - default_planner_request_adapters/AddTimeParameterization + default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints - default_planner_request_adapters/AddTimeParameterization