ros2 humble moveit调试笔记

Overview — ROS2 Grasp Library Tutorials 0.5.0 documentation 

Robot Interface — ROS2 Grasp Library Tutorials 0.5.0 documentation 

手动添加ompl_planning.yaml文件

planning_plugins:- ompl_interface/OMPLPlanner
# To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below
# default_planning_request_adapters/AddRuckigTrajectorySmoothing
request_adapters:- default_planning_request_adapters/ResolveConstraintFrames- default_planning_request_adapters/ValidateWorkspaceBounds- default_planning_request_adapters/CheckStartStateBounds- default_planning_request_adapters/CheckStartStateCollision
response_adapters:- default_planning_response_adapters/AddTimeOptimalParameterization- default_planning_response_adapters/ValidateSolution- default_planning_response_adapters/DisplayMotionPath
planner_configs:APSConfigDefault:type: geometric::AnytimePathShorteningshortcut: 1  # Attempt to shortcut all new solution pathshybridize: 1  # Compute hybrid solution trajectoriesmax_hybrid_paths: 36  # Number of hybrid paths generated per iterationnum_planners: 8  # The number of default planners to use for planningplanners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"SBLkConfigDefault:type: geometric::SBLrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()ESTkConfigDefault:type: geometric::ESTrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05LBKPIECEkConfigDefault:type: geometric::LBKPIECErange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5BKPIECEkConfigDefault:type: geometric::BKPIECErange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5KPIECEkConfigDefault:type: geometric::KPIECErange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5RRTkConfigDefault:type: geometric::RRTrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05RRTConnectkConfigDefault:type: geometric::RRTConnectrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()RRTstarkConfigDefault:type: geometric::RRTstarrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1TRRTkConfigDefault:type: geometric::TRRTrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05max_states_failed: 10  # when to start increasing temp. default: 10temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0min_temperature: 10e-10  # lower limit of temp change. default: 10e-10init_temperature: 10e-6  # initial temperature. default: 10e-6frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()PRMkConfigDefault:type: geometric::PRMmax_nearest_neighbors: 10  # use k nearest neighbors. default: 10PRMstarkConfigDefault:type: geometric::PRMstarFMTkConfigDefault:type: geometric::FMTnum_samples: 1000  # number of states that the planner should sample. default: 1000radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1nearest_k: 1  # use Knearest strategy. default: 1cache_cc: 1  # use collision checking cache. default: 1heuristics: 0  # activate cost to go heuristics. default: 0extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1BFMTkConfigDefault:type: geometric::BFMTnum_samples: 1000  # number of states that the planner should sample. default: 1000radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0nearest_k: 1  # use the Knearest strategy. default: 1balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1heuristics: 1  # activates cost to go heuristics. default: 1cache_cc: 1  # use the collision checking cache. default: 1extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1PDSTkConfigDefault:type: geometric::PDSTSTRIDEkConfigDefault:type: geometric::STRIDErange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16max_degree: 18  # max degree of a node in the GNAT. default: 12min_degree: 12  # min degree of a node in the GNAT. default: 12max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2BiTRRTkConfigDefault:type: geometric::BiTRRTrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1init_temperature: 100  # initial temperature. default: 100frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: infLBTRRTkConfigDefault:type: geometric::LBTRRTrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05epsilon: 0.4  # optimality approximation factor. default: 0.4BiESTkConfigDefault:type: geometric::BiESTrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()ProjESTkConfigDefault:type: geometric::ProjESTrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05LazyPRMkConfigDefault:type: geometric::LazyPRMrange: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()LazyPRMstarkConfigDefault:type: geometric::LazyPRMstarSPARSkConfigDefault:type: geometric::SPARSstretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001max_failures: 1000  # maximum consecutive failure limit. default: 1000SPARStwokConfigDefault:type: geometric::SPARStwostretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001max_failures: 5000  # maximum consecutive failure limit. default: 5000TrajOptDefault:type: geometric::TrajOptarm100_arm:planner_configs:- APSConfigDefault- SBLkConfigDefault- ESTkConfigDefault- LBKPIECEkConfigDefault- BKPIECEkConfigDefault- KPIECEkConfigDefault- RRTkConfigDefault- RRTConnectkConfigDefault- RRTstarkConfigDefault- TRRTkConfigDefault- PRMkConfigDefault- PRMstarkConfigDefault- FMTkConfigDefault- BFMTkConfigDefault- PDSTkConfigDefault- STRIDEkConfigDefault- BiTRRTkConfigDefault- LBTRRTkConfigDefault- BiESTkConfigDefault- ProjESTkConfigDefault- LazyPRMkConfigDefault- LazyPRMstarkConfigDefault- SPARSkConfigDefault- SPARStwokConfigDefault- TrajOptDefaultarm100_hand:planner_configs:- APSConfigDefault- SBLkConfigDefault- ESTkConfigDefault- LBKPIECEkConfigDefault- BKPIECEkConfigDefault- KPIECEkConfigDefault- RRTkConfigDefault- RRTConnectkConfigDefault- RRTstarkConfigDefault- TRRTkConfigDefault- PRMkConfigDefault- PRMstarkConfigDefault- FMTkConfigDefault- BFMTkConfigDefault- PDSTkConfigDefault- STRIDEkConfigDefault- BiTRRTkConfigDefault- LBTRRTkConfigDefault- BiESTkConfigDefault- ProjESTkConfigDefault- LazyPRMkConfigDefault- LazyPRMstarkConfigDefault- SPARSkConfigDefault- SPARStwokConfigDefault- TrajOptDefault