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- <launch>
- <!-- Stomp Plugin for MoveIt -->
- <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
- <arg name="start_state_max_bounds_error" value="0.1" />
- <arg name="jiggle_fraction" value="0.05" />
- <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
- <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" />
- <param name="planning_plugin" value="$(arg planning_plugin)" />
- <param name="request_adapters" value="$(arg planning_adapters)" />
- <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
- <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
- <rosparam command="load" file="$(find robot_config)/config/stomp_planning.yaml"/>
- </launch>
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