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PipelinePlanner: disable publishing of plan request + computed path
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@ -93,6 +93,8 @@ Task::createPlanner(const robot_model::RobotModelConstPtr& model, const std::str
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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_cache[id] = planner;
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planner->displayComputedMotionPlans(false);
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planner->publishReceivedRequests(false);
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}
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return planner;
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}
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