Switching moveit planner without respawning a node

asked 2023-01-16 05:54:29 -0500

bxtbold gravatar image

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 :)

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try changing the parameters,

/move_group/default_planning_pipeline: ompl

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

aarsh_t gravatar image aarsh_t  ( 2023-01-16 06:06:58 -0500 )edit