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Kei okada's - get default planner from param #625

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merged 5 commits into from
Nov 21, 2015
Merged

Kei okada's - get default planner from param #625

merged 5 commits into from
Nov 21, 2015

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sachinchitta
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@sachinchitta sachinchitta mentioned this pull request Nov 18, 2015
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@rhaschke - this param is only used to set the default planner for when the Rviz plugin gets brought up - currently it comes up as "unspecified". Assigning default planners per group would be useful but it should happen separately from this PR. Maybe we should rename this param to "rviz_default_planner_config" to minimize confusion.

@rhaschke
load default_planner_config from default location
0985a41 
instead of loading from `/<ns>/default_planner_config`, use
`/<ns>/move_group/<group>/default_planner_config`, which is the default
location for `planner_configs` too
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My adaption loads the default_planner_config from the move_group's namespace, considering also the selected group when there is a configuration for it. Hence in ompl_planning.yaml, one can now specify:

arm:
  default_planner_config: RRTConnectkConfigDefault
  planner_configs:
    - RRTkConfigDefault
    - RRTConnectkConfigDefault

Obviously, one can overwrite that setting manually in launch files - after loading the yaml defaults.

The same default could be used by the move_group node too.
However, there is a heuristic to choose a config if I remember correctly.
@k-okada Do you like that modification?

@rhaschke
new method MoveGroup::getDefaultPlannerId(const std::string &group)
26c2c8c 
... to retrieve default planner config from param server
moved corresponding code from rviz plugin to MoveGroup interface
to facilitate re-use
@rhaschke rhaschke mentioned this pull request Nov 21, 2015
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@sachinchitta
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Nice change! @rhaschke

sachinchitta added a commit that referenced this pull request Nov 21, 2015
@sachinchitta
Merge pull request #625 from ros-planning/k-okada-get_default_planner…
df9d3fd 
…_from_param

Kei okada's - get default planner from param
@sachinchitta sachinchitta merged commit df9d3fd into indigo-devel Nov 21, 2015
@rhaschke rhaschke deleted the k-okada-get_default_planner_from_param branch November 21, 2015 19:10
This was referenced Nov 25, 2015
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@sachinchitta sachinchitta mentioned this pull request Dec 4, 2015
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@k-okada k-okada mentioned this pull request Feb 3, 2016
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k-okada added a commit to k-okada/moveit_robots that referenced this pull request Feb 7, 2016
@k-okada
Update ompl_planning.yaml
f6f19e2 
set default planning config, which is supported on moveit 0.7
moveit/moveit_ros#625
@k-okada k-okada mentioned this pull request Feb 7, 2016
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@gavanderhoorn gavanderhoorn mentioned this pull request Sep 8, 2016
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@534o 534o mentioned this pull request Apr 4, 2017
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4 participants
@sachinchitta @rhaschke @k-okada @julienking