<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>