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.
This commit is contained in:
v4hn 2018-10-22 16:54:18 +02:00
parent ba88c59201
commit a05a76fd8c
2 changed files with 8 additions and 2 deletions

View File

@ -59,11 +59,19 @@ PipelinePlanner::PipelinePlanner()
p.declare<double>("goal_joint_tolerance", 1e-4, "tolerance for reaching joint goals");
p.declare<double>("goal_position_tolerance", 1e-4, "tolerance for reaching position goals");
p.declare<double>("goal_orientation_tolerance", 1e-4, "tolerance for reaching orientation goals");
p.declare<bool>("display_motion_plans", false,
"publish generated solutions on topic " + planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC);
p.declare<bool>("publish_planning_requests", false,
"publish motion planning requests on topic " + planning_pipeline::PlanningPipeline::MOTION_PLAN_REQUEST_TOPIC);
}
void PipelinePlanner::init(const core::RobotModelConstPtr &robot_model)
{
planner_ = Task::createPlanner(robot_model);
planner_->displayComputedMotionPlans(properties().get<bool>("display_motion_plans"));
planner_->publishReceivedRequests(properties().get<bool>("publish_planning_requests"));
}
void initMotionPlanRequest(moveit_msgs::MotionPlanRequest& req,

View File

@ -116,8 +116,6 @@ Task::createPlanner(const robot_model::RobotModelConstPtr& model, const std::str
// create new entry
planner = std::make_shared<planning_pipeline::PlanningPipeline>
(model, ros::NodeHandle(ns), planning_plugin_param_name, adapter_plugins_param_name);
planner->displayComputedMotionPlans(false);
planner->publishReceivedRequests(false);
// store in cache
entry = planner;
}