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Add AnytimePathShortening to ada_moveit #50

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Merged
merged 5 commits into from
Feb 5, 2025
Merged

Add AnytimePathShortening to ada_moveit #50

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950a83b
Add Anytime Path Shortening
amalnanavati Nov 14, 2024
a2cd3e0
Tune parameters
amalnanavati Dec 2, 2024
c36c20c
Run pre-commit
amalnanavati Dec 16, 2024
ee14f35
Switch to RRT*-Inf
amalnanavati Feb 5, 2025
ec0d954
Merge branch 'main' into amaln/path-shortening
amalnanavati Feb 5, 2025
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@amalnanavati
amalnanavati committed Feb 5, 2025
commit ee14f35ab646282fbb14cd51689e11bc13af6f3c
2 changes: 1 addition & 1 deletion ada_moveit/config/ompl_planning.yaml
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Expand Up @@ -53,7 +53,7 @@ planner_configs:
range: 0.05 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstarkConfigDefault:
type: geometric::RRTstar
range: 3.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() (in practice, for ADA, this default is ~7)
range: 100.0 # 3.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() (in practice, for ADA, this default is ~7, around 20% of the maximum extent of the space)
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRTkConfigDefault:
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