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Decrease MoveIt planning time

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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
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3
src/active_grasp/controller.py
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@ -52,8 +52,7 @@ class GraspController:
self.moveit = MoveItClient("panda_arm")
rospy.sleep(1.0) # Wait for connections to be established.
self.moveit.move_group.set_planner_id("RRTstarkConfigDefault")
# self.moveit.move_group.set_num_planning_attempts(10)
self.moveit.move_group.set_planning_time(6.0)
self.moveit.move_group.set_planning_time(3.0)
def switch_to_cartesian_velocity_control(self):
req = SwitchControllerRequest()