Revert "Remove custom OMPL config"

This reverts commit b89f839. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
osrf · Nov 19, 2024 · ad609b7 · ad609b7
1 parent b89f839
commit ad609b7
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Showing 5 changed files with 45 additions and 5 deletions.
diff --git a/nexus_integration_tests/launch/include/abb_irb1300_moveit.launch.py b/nexus_integration_tests/launch/include/abb_irb1300_moveit.launch.py
@@ -87,8 +87,16 @@ def launch_setup(context, *args, **kwargs):
 
     # Planning Functionality
     ompl_planning_pipeline_config = {
-        "move_group": load_yaml(moveit_config_package, "config/ompl_planning.yaml")
+        "move_group": {
+            "planning_plugins": ["ompl_interface/OMPLPlanner"],
+            "request_adapters": """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""",
+            "start_state_max_bounds_error": 0.1,
+        }
     }
+    ompl_planning_yaml = load_yaml(
+        "abb_irb1300_10_115_moveit_config", "config/ompl_planning.yaml"
+    )
+    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
     moveit_simple_controllers_yaml = load_yaml(

diff --git a/nexus_integration_tests/launch/include/abb_irb910sc_moveit.launch.py b/nexus_integration_tests/launch/include/abb_irb910sc_moveit.launch.py
@@ -88,8 +88,16 @@ def launch_setup(context, *args, **kwargs):
 
     # Planning Functionality
     ompl_planning_pipeline_config = {
-        "move_group": load_yaml(moveit_config_package, "config/ompl_planning.yaml")
+        "move_group": {
+            "planning_plugins": ["ompl_interface/OMPLPlanner"],
+            "request_adapters": """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""",
+            "start_state_max_bounds_error": 0.1,
+        }
     }
+    ompl_planning_yaml = load_yaml(
+        "abb_irb910sc_3_45_moveit_config", "config/ompl_planning.yaml"
+    )
+    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
     moveit_simple_controllers_yaml = load_yaml(

diff --git a/nexus_motion_planner/launch/demo_planner_server.launch.py b/nexus_motion_planner/launch/demo_planner_server.launch.py
@@ -95,8 +95,16 @@ def launch_setup(context, *args, **kwargs):
 
     # Planning Functionality
     ompl_planning_pipeline_config = {
-        "move_group": load_yaml(moveit_config_package, "config/ompl_planning.yaml")
+        "move_group": {
+            "planning_plugins": ["ompl_interface/OMPLPlanner"],
+            "request_adapters": """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""",
+            "start_state_max_bounds_error": 0.1,
+        }
     }
+    ompl_planning_yaml = load_yaml(
+        moveit_config_package.perform(context), "config/ompl_planning.yaml"
+    )
+    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
     moveit_simple_controllers_yaml = load_yaml(

diff --git a/nexus_motion_planner/test/test_request.test.py b/nexus_motion_planner/test/test_request.test.py
@@ -156,8 +156,16 @@ def generate_test_description():
 
     # Planning Functionality
     ompl_planning_pipeline_config = {
-        "move_group": load_yaml(moveit_config_package, "config/ompl_planning.yaml")
+        "move_group": {
+            "planning_plugins": ["ompl_interface/OMPLPlanner"],
+            "request_adapters": """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""",
+            "start_state_max_bounds_error": 0.1,
+        }
     }
+    ompl_planning_yaml = load_yaml(
+        moveit_config_package, "config/ompl_planning.yaml"
+    )
+    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
     moveit_simple_controllers_yaml = load_yaml(

diff --git a/nexus_motion_planner/test/test_request_with_cache.test.py b/nexus_motion_planner/test/test_request_with_cache.test.py
@@ -156,8 +156,16 @@ def generate_test_description():
 
     # Planning Functionality
     ompl_planning_pipeline_config = {
-        "move_group": load_yaml(moveit_config_package, "config/ompl_planning.yaml")
+        "move_group": {
+            "planning_plugins": ["ompl_interface/OMPLPlanner"],
+            "request_adapters": """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""",
+            "start_state_max_bounds_error": 0.1,
+        }
     }
+    ompl_planning_yaml = load_yaml(
+        moveit_config_package, "config/ompl_planning.yaml"
+    )
+    ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
 
     # Trajectory Execution Functionality
     moveit_simple_controllers_yaml = load_yaml(