2021-11-03 15:18:12 +04:00
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rasms_moveit:
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ros__parameters:
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planning_scene_monitor_options:
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name: "planning_scene_monitor"
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robot_description: "robot_description"
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joint_state_topic: "/joint_states"
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2021-11-08 23:36:22 +04:00
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attached_collision_object_topic: "/planning_scene_monitor"
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publish_planning_scene_topic: "/publish_planning_scene"
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monitored_planning_scene_topic: "/monitored_planning_scene"
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2021-11-03 15:18:12 +04:00
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wait_for_initial_state_timeout: 10.0
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planning_pipelines:
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#namespace: "moveit_cpp" # optional, default is ~
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pipeline_names: ["ompl"]
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plan_request_params:
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planning_attempts: 10
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planning_pipeline: ompl
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max_velocity_scaling_factor: 1.0
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max_acceleration_scaling_factor: 1.0
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