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Remove display_motion_plans and publish_planning_requests properties (#489)
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@ -78,8 +78,6 @@ void export_solvers(py::module& m) {
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.property<double>("goal_joint_tolerance", "float: Tolerance for reaching joint goals")
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.property<double>("goal_position_tolerance", "float: Tolerance for reaching position goals")
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.property<double>("goal_orientation_tolerance", "float: Tolerance for reaching orientation goals")
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.property<bool>("display_motion_plans", "bool: Publish generated solutions via a topic")
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.property<bool>("publish_planning_requests", "bool: Publish motion planning requests via a topic")
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.def(py::init<const std::string&>(), "pipeline"_a = std::string("ompl"));
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properties::class_<JointInterpolationPlanner, PlannerInterface>(
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@ -85,12 +85,6 @@ PipelinePlanner::PipelinePlanner(
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properties().declare<double>("goal_position_tolerance", 1e-4, "tolerance for reaching position goals");
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properties().declare<double>("goal_orientation_tolerance", 1e-4, "tolerance for reaching orientation goals");
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// Declare properties that configure the planning pipeline
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properties().declare<bool>("display_motion_plans", false,
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"publish generated solutions on topic " +
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planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC);
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properties().declare<bool>("publish_planning_requests", false,
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"publish motion planning requests on topic " +
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planning_pipeline::PlanningPipeline::MOTION_PLAN_REQUEST_TOPIC);
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properties().declare<std::unordered_map<std::string, std::string>>(
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"pipeline_id_planner_id_map", std::unordered_map<std::string, std::string>(),
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"Set of pipelines and planners used for planning");
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@ -144,12 +138,6 @@ void PipelinePlanner::init(const core::RobotModelConstPtr& robot_model) {
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throw std::runtime_error(
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"Cannot initialize PipelinePlanner: Could not create any valid entries for planning pipeline maps!");
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}
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// Configure all pipelines according to the configuration in properties
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for (auto const& name_pipeline_pair : planning_pipelines_) {
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name_pipeline_pair.second->displayComputedMotionPlans(properties().get<bool>("display_motion_plans"));
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name_pipeline_pair.second->publishReceivedRequests(properties().get<bool>("publish_planning_requests"));
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}
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}
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bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
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