Use PRM instead of RRTConnect

moveit · Nov 28, 2022 · 0ad4d5e · 0ad4d5e
1 parent 7e00e14
commit 0ad4d5e
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/...l_interface/src/parameterization/joint_space/constrained_planning_state_space_factory.cpp b/...l_interface/src/parameterization/joint_space/constrained_planning_state_space_factory.cpp
@@ -45,9 +45,9 @@ ConstrainedPlanningStateSpaceFactory::ConstrainedPlanningStateSpaceFactory() : M
   type_ = ConstrainedPlanningStateSpace::PARAMETERIZATION_TYPE;
 }
 
-int ConstrainedPlanningStateSpaceFactory::canRepresentProblem(const std::string& group,
-                                                              const moveit_msgs::msg::MotionPlanRequest& req,
-                                                              const moveit::core::RobotModelConstPtr& robot_model) const
+int ConstrainedPlanningStateSpaceFactory::canRepresentProblem(
+    const std::string& /*group*/, const moveit_msgs::msg::MotionPlanRequest& req,
+    const moveit::core::RobotModelConstPtr& /*robot_model*/) const
 {
   // If we have exactly one position or orientation constraint, prefer the constrained planning state space
   auto num_constraints =

diff --git a/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/test/test_planning_context_manager.cpp
@@ -123,7 +123,7 @@ class TestPlanningContext : public ompl_interface_testing::LoadTestRobot, public
     pconfig_settings.name = group_name_;
     pconfig_settings.config = { { "enforce_joint_model_state_space", "0" },
                                 { "projection_evaluator", "joints(" + joint_names[0] + "," + joint_names[1] + ")" },
-                                { "type", "geometric::RRTConnect" } };
+                                { "type", "geometric::PRM" } };
 
     planning_interface::PlannerConfigurationMap pconfig_map{ { pconfig_settings.name, pconfig_settings } };
     moveit_msgs::msg::MoveItErrorCodes error_code;