Switching moveit planner without respawning a node
I had been running UR5 (on Ubuntu 18.04 ROS Melodic) to use OMPL and PILZ planners on moveit and they worked well independently. But I'm wondering if there are any way I can switch planners in the middle of action (without respawning or killing a node/launch file).
- For example, from point A to B, use PILZ and then from point B to C, use OMPL
Thank you in advance :)
Asked by bxtbold on 2023-01-16 06:54:29 UTC
Comments
try changing the parameters,
and load the planner parameter file on the same namespace under
/move_group/planning_pipelines/Ideally it should work.You can also use dynamic_reconfigure
Asked by aarsh_t on 2023-01-16 07:06:58 UTC