Add stomp as selectable planner

sjahr · sjahr · commit 0fea300dd12f · 2023-05-18T16:44:53.000+02:00
diff --git a/doc/how_to_guides/planner_cost_functions/config/planner_cost_moveit_cpp.yaml b/doc/how_to_guides/planner_cost_functions/config/planner_cost_moveit_cpp.yaml
@@ -10,12 +10,12 @@ planning_scene_monitor_options:
 
 # Define which planning pipelines are loaded by moveit_cpp. These loaded pipelines will be available for simple and parallel planning
 planning_pipelines:
-  pipeline_names: ["ompl"]
+  pipeline_names: ["ompl", "stomp"]
 
 plan_request_params:
   planning_attempts: 1
-  planning_pipeline: ompl # Different OMPL pipeline name!
-  planner_id: "RRTstarkConfigDefault"
+  planning_pipeline: stomp
+  planner_id: "stomp"
   max_velocity_scaling_factor: 1.0
   max_acceleration_scaling_factor: 1.0
-  planning_time: 1.5
+  planning_time: 10.0
diff --git a/doc/how_to_guides/planner_cost_functions/launch/planner_cost_functions.launch.py b/doc/how_to_guides/planner_cost_functions/launch/planner_cost_functions.launch.py
@@ -42,7 +42,7 @@ def launch_setup(context, *args, **kwargs):
         .planning_scene_monitor(
             publish_robot_description=True, publish_robot_description_semantic=True
         )
-        .planning_pipelines("ompl", ["ompl"])
+        .planning_pipelines("ompl", ["ompl", "stomp"])
         .trajectory_execution(file_path="config/moveit_controllers.yaml")
         .moveit_cpp(
             os.path.join(

Original file line number	Diff line number	Diff line change
`@@ -42,7 +42,7 @@ def launch_setup(context, args, *kwargs):`
`42`	`42`	`.planning_scene_monitor(`
`43`	`43`	`publish_robot_description=True, publish_robot_description_semantic=True`
`44`	`44`	`)`
`45`		`- .planning_pipelines("ompl", ["ompl"])`
	`45`	`+ .planning_pipelines("ompl", ["ompl", "stomp"])`
`46`	`46`	`.trajectory_execution(file_path="config/moveit_controllers.yaml")`
`47`	`47`	`.moveit_cpp(`
`48`	`48`	`os.path.join(`