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The moveit_resources repo is a good place to look up usage examples. A lot of the tutorials use it.
Inside of that repo, you can find this:
https://github.com/ros-planning/movei...
OMPL is the default planner that almost everybody uses. All you need to change is this line:
<arg name="planning_adapters"
default="default_planner_request_adapters/AddTimeParameterization
Change it to:
<arg name="planning_adapters"
default="default_planner_request_adapters/AddOptimalTimeParameterization
I agree that the MoveIt1 tutorial isn't the best. It's a little better in MoveIt2, at least.
Asked: 2022-11-18 14:06:49 -0600
Seen: 361 times
Last updated: Nov 18 '22
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I read the following tutorial, but it explains what the difference is, however I am looking for an example implementation. I will take care of the asking a question guideline.