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removing regression introduced in #658 #1040

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merged 1 commit into from Aug 30, 2018

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commented Aug 30, 2018

Description

Thisa regressions introduced in #658 which was raised in issue #955

This stops the setup assistant from appending kConfigDefault to planner names and correctly trims kConfigDefault from existing ompl_planning.yaml files.

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  • Created tests, which fail without this PR reference
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@mlautman mlautman requested review from rhaschke and gavanderhoorn Aug 30, 2018

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commented Aug 30, 2018

Technically this looks ok, but I'm wondering whether removing the kConfigDefault is the right thing to do.

Perhaps @davetcoleman remembers why it was added in the first place.

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I approve this change. For me, the suffix "kConfigDefault" always looked strange. However, it also acts as a reminder, that one can have multiple different configurations for a given OMPL planner - with different parameters.

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commented Aug 30, 2018

@rhaschke wrote:

However, it also acts as a reminder, that one can have multiple different configurations for a given OMPL planner - with different parameters.

exactly.

The entries in the config files and on the parameter server are not planners, but only sets of configuration items. Removing that suffix makes that slightly less obvious, but perhaps not enough to keep it.

@mlautman mlautman merged commit ed07fc9 into ros-planning:kinetic-devel Aug 30, 2018

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@mlautman mlautman deleted the PickNikRobotics:setup-assistant-planners branch Aug 30, 2018

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commented Aug 31, 2018

mlautman added a commit that referenced this pull request Sep 6, 2018

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commented Sep 6, 2018

@v4hn done 6073eda

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commented Sep 6, 2018

Thanks for this bug fix @mlautman !

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