Planning Configuration cuMotion

[wang_911205]

Planning Configuration

ompl_planning_pipeline_config = {
    "move_group": {
        "planning_plugin": "ompl_interface/OMPLPlanner",
        "request_adapters":
        """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
        "start_state_max_bounds_error": 0.1,
    }
}
ompl_planning_yaml = load_yaml("ar_moveit_config",
                               "config/ompl_planning.yaml")
ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)

If i want to add cumotion below change right?

Planning Configuration

ompl_planning_pipeline_config = {
    "move_group": {
        "planning_plugin": "ompl_interface/OMPLPlanner",
        "request_adapters":
        """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
        "start_state_max_bounds_error": 0.1,
    },
    "planning_pipelines": ["ompl", "isaac_ros_cumotion"],
}
ompl_planning_yaml = load_yaml("ar_moveit_config",
                               "config/ompl_planning.yaml")
ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)

# Add cuMotion to list of planning pipelines.
cumotion_config_file_path = load_yaml("ar_moveit_config",
                               "config/isaac_ros_cumotion_planning.yaml")
ompl_planning_pipeline_config["isaac_ros_cumotion"] = cumotion_config_file_path

[BuckBabich]

That looks correct. Please let us know if you hit any issues.

[wang_911205]

I use the config and use isaac_ros_cumotion_moveit, the problem come out

Use isaac_ros_cumotion_moveit [ERROR] [curobo] Steps max is less than 0

run below code #include <memory> #include <rclcpp/rclcpp.hpp> #include <moveit/move_group_interface/move_group_interface.h> int main(int argc, char* argv[]) { // Initialize ROS and create the Node rclcpp::init(argc, argv); auto const node = std::make_shared<rclcpp::Node>( "hello_moveit", rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)); // Create a ROS logger auto const logger = rclcpp::get_logger("hello_moveit"); // Create the MoveIt MoveGroup …