<launch>
  <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
  <include file="$(find robot_config)/launch/ompl_planning_pipeline.launch.xml">
    <arg name="planning_adapters"
         default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
                  default_planner_request_adapters/AddTimeParameterization
                  default_planner_request_adapters/FixWorkspaceBounds
                  default_planner_request_adapters/FixStartStateBounds
                  default_planner_request_adapters/FixStartStateCollision
                  default_planner_request_adapters/FixStartStatePathConstraints
                  chomp/OptimizerAdapter"
                  />
  </include>

  <!-- load chomp config -->
  <rosparam command="load" file="$(find robot_config)/config/chomp_planning.yaml" />

  <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
  <param name="trajectory_initialization_method" value="fillTrajectory"/>
</launch>
