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fixup! add properties for conditional debug output
in MoveIt planner. These can be quite helpful. I agree, we really don't need them enabled by default.
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@ -59,11 +59,19 @@ PipelinePlanner::PipelinePlanner()
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p.declare<double>("goal_joint_tolerance", 1e-4, "tolerance for reaching joint goals");
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p.declare<double>("goal_position_tolerance", 1e-4, "tolerance for reaching position goals");
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p.declare<double>("goal_orientation_tolerance", 1e-4, "tolerance for reaching orientation goals");
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p.declare<bool>("display_motion_plans", false,
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"publish generated solutions on topic " + planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC);
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p.declare<bool>("publish_planning_requests", false,
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"publish motion planning requests on topic " + planning_pipeline::PlanningPipeline::MOTION_PLAN_REQUEST_TOPIC);
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}
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void PipelinePlanner::init(const core::RobotModelConstPtr &robot_model)
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{
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planner_ = Task::createPlanner(robot_model);
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planner_->displayComputedMotionPlans(properties().get<bool>("display_motion_plans"));
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planner_->publishReceivedRequests(properties().get<bool>("publish_planning_requests"));
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}
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void initMotionPlanRequest(moveit_msgs::MotionPlanRequest& req,
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@ -116,8 +116,6 @@ Task::createPlanner(const robot_model::RobotModelConstPtr& model, const std::str
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// create new entry
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planner = std::make_shared<planning_pipeline::PlanningPipeline>
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(model, ros::NodeHandle(ns), planning_plugin_param_name, adapter_plugins_param_name);
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planner->displayComputedMotionPlans(false);
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planner->publishReceivedRequests(false);
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// store in cache
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entry = planner;
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}
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