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moveit · Nov 29, 2023 · bda0803 · bda0803
1 parent 167210b
commit bda0803
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/doc/examples/moveit_cpp/config/moveit_cpp.yaml b/doc/examples/moveit_cpp/config/moveit_cpp.yaml
@@ -9,11 +9,11 @@ planning_scene_monitor_options:
 
 planning_pipelines:
   #namespace: "moveit_cpp"  # optional, default is ~
-  pipeline_names: ["stomp"]
+  pipeline_names: ["ompl"]
 
 plan_request_params:
   planning_attempts: 1
-  planning_pipeline: stomp
-  planner_id: "stomp"
+  planning_pipeline: ompl
+  planner_id: "RRTConnectkConfigDefault"
   max_velocity_scaling_factor: 1.0
   max_acceleration_scaling_factor: 1.0
diff --git a/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py b/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py
@@ -11,7 +11,7 @@ def generate_launch_description():
         MoveItConfigsBuilder("moveit_resources_panda")
         .robot_description(file_path="config/panda.urdf.xacro")
         .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
-        .planning_pipelines("stomp", ["stomp"])
+        .planning_pipelines("ompl", ["ompl"])
         .moveit_cpp(
             file_path=get_package_share_directory("moveit2_tutorials")
             + "/config/moveit_cpp.yaml"