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The order of planning_adapters in moveit planner pipeline

asked 2020-02-26 22:37:30 -0500

jsbyysheng gravatar image

updated 2020-02-29 14:17:07 -0500

jayess gravatar image

The planning_adapters of ompl_planning_pipeline.launch.xml in panda_moveit_config(kinetic-devel) is the order of the following:

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

However, The planning_adapters of ompl_planning_pipeline.launch.xml in panda_moveit_config(melodic-devel) is the order of the following:

default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints
default_planner_request_adapters/ResolveConstraintFrames
default_planner_request_adapters/AddTimeParameterization

I am very confused about why default_planner_request_adapters/AddTimeParameterization changes order in planning_adapters ?

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answered 2020-02-29 11:42:37 -0500

fvd gravatar image

Apparently we changed the order in this commit when we added the ResolveConstraintFrames adapter. I don't believe there was a particular reason for the change of order, except that it makes sense to time the trajectory only after it may have changed. Either way it should not cause issues. Please post on the issue tracker if you encounter a bug related to this.

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Very glad for you and Robert Haschke's reply. (# 56 The order of planning_adapters in moveit planner pipeline)

jsbyysheng gravatar image jsbyysheng  ( 2020-02-29 22:41:26 -0500 )edit

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Asked: 2020-02-26 22:37:30 -0500

Seen: 129 times

Last updated: Feb 29 '20