hofee/nbv_sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Decrease MoveIt planning time

Browse Source
This commit is contained in:
Michel Breyer 2021-10-27 14:29:34 +02:00
parent b1eef0d6ef
commit f311ac4eed
1 changed files with 1 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/active_grasp/controller.py
View File

@ -52,8 +52,7 @@ class GraspController:
self.moveit = MoveItClient("panda_arm") self.moveit = MoveItClient("panda_arm")
rospy.sleep(1.0) # Wait for connections to be established. rospy.sleep(1.0) # Wait for connections to be established.
self.moveit.move_group.set_planner_id("RRTstarkConfigDefault") self.moveit.move_group.set_planner_id("RRTstarkConfigDefault")
# self.moveit.move_group.set_num_planning_attempts(10) self.moveit.move_group.set_planning_time(3.0)
self.moveit.move_group.set_planning_time(6.0)
def switch_to_cartesian_velocity_control(self): def switch_to_cartesian_velocity_control(self):
req = SwitchControllerRequest() req = SwitchControllerRequest()