mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Remove display_motion_plans and publish_planning_requests properties (#489)
This commit is contained in:
parent
0e02fcae77
commit
ed70497d33
@ -78,8 +78,6 @@ void export_solvers(py::module& m) {
|
|||||||
.property<double>("goal_joint_tolerance", "float: Tolerance for reaching joint goals")
|
.property<double>("goal_joint_tolerance", "float: Tolerance for reaching joint goals")
|
||||||
.property<double>("goal_position_tolerance", "float: Tolerance for reaching position goals")
|
.property<double>("goal_position_tolerance", "float: Tolerance for reaching position goals")
|
||||||
.property<double>("goal_orientation_tolerance", "float: Tolerance for reaching orientation goals")
|
.property<double>("goal_orientation_tolerance", "float: Tolerance for reaching orientation goals")
|
||||||
.property<bool>("display_motion_plans", "bool: Publish generated solutions via a topic")
|
|
||||||
.property<bool>("publish_planning_requests", "bool: Publish motion planning requests via a topic")
|
|
||||||
.def(py::init<const std::string&>(), "pipeline"_a = std::string("ompl"));
|
.def(py::init<const std::string&>(), "pipeline"_a = std::string("ompl"));
|
||||||
|
|
||||||
properties::class_<JointInterpolationPlanner, PlannerInterface>(
|
properties::class_<JointInterpolationPlanner, PlannerInterface>(
|
||||||
|
|||||||
@ -71,12 +71,6 @@ PipelinePlanner::PipelinePlanner(
|
|||||||
properties().declare<double>("goal_position_tolerance", 1e-4, "tolerance for reaching position goals");
|
properties().declare<double>("goal_position_tolerance", 1e-4, "tolerance for reaching position goals");
|
||||||
properties().declare<double>("goal_orientation_tolerance", 1e-4, "tolerance for reaching orientation goals");
|
properties().declare<double>("goal_orientation_tolerance", 1e-4, "tolerance for reaching orientation goals");
|
||||||
// Declare properties that configure the planning pipeline
|
// Declare properties that configure the planning pipeline
|
||||||
properties().declare<bool>("display_motion_plans", false,
|
|
||||||
"publish generated solutions on topic " +
|
|
||||||
planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC);
|
|
||||||
properties().declare<bool>("publish_planning_requests", false,
|
|
||||||
"publish motion planning requests on topic " +
|
|
||||||
planning_pipeline::PlanningPipeline::MOTION_PLAN_REQUEST_TOPIC);
|
|
||||||
properties().declare("pipeline_id_planner_id_map", pipeline_id_planner_id_map,
|
properties().declare("pipeline_id_planner_id_map", pipeline_id_planner_id_map,
|
||||||
"Set of pipelines and planners used for planning");
|
"Set of pipelines and planners used for planning");
|
||||||
}
|
}
|
||||||
@ -135,12 +129,6 @@ void PipelinePlanner::init(const core::RobotModelConstPtr& robot_model) {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// Configure all pipelines according to the configuration in properties
|
|
||||||
for (auto const& name_pipeline_pair : planning_pipelines_) {
|
|
||||||
name_pipeline_pair.second->displayComputedMotionPlans(properties().get<bool>("display_motion_plans"));
|
|
||||||
name_pipeline_pair.second->publishReceivedRequests(properties().get<bool>("publish_planning_requests"));
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
|
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user