From 9c6338774f474ca54b96fb84ebb9e5fe554c8b95 Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Mon, 10 Mar 2025 18:58:08 +0300 Subject: [PATCH] remove chomp planner from pipelines config and use stomp by default --- rbs_mill_assist/launch/moveit.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rbs_mill_assist/launch/moveit.launch.py b/rbs_mill_assist/launch/moveit.launch.py index e17250b..af05a6a 100644 --- a/rbs_mill_assist/launch/moveit.launch.py +++ b/rbs_mill_assist/launch/moveit.launch.py @@ -96,7 +96,7 @@ def launch_setup(context, *args, **kwargs): .pilz_cartesian_limits("moveit/pilz_cartesian_limits.yaml") .robot_description_kinematics("moveit/kinematics.yaml") .robot_description_semantic("srdf/rbs_arm.srdf", mappings={}) - .planning_pipelines(pipelines=["ompl", "chomp", "stomp"], default_planning_pipeline="ompl") + .planning_pipelines(pipelines=["ompl", "stomp"], default_planning_pipeline="stomp") .to_moveit_configs() )