The order of planning_adapters in moveit planner pipeline
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
?