Hello all,
here are the errors,
[ERROR] [1528993777.322079817]: Could not find the planner configuration 'RRTConneckConfigDefault' on the param server
[ERROR] [1528993777.326028820]: Could not find the planner configuration 'SBLkConfigDefault' on the param server
[ERROR] [1528993777.326619022]: Could not find the planner configuration 'ESTkConfigDefault' on the param server
[ERROR] [1528993777.327209350]: Could not find the planner configuration 'LBKPIECEkConfigDefault' on the param server
[ERROR] [1528993777.327770784]: Could not find the planner configuration 'BKPIECEkConfigDefault' on the param server
[ERROR] [1528993777.328322494]: Could not find the planner configuration 'KPIECEkConfigDefault' on the param server
[ERROR] [1528993777.328897858]: Could not find the planner configuration 'RRTkConfigDefault' on the param server
[ERROR] [1528993777.329486582]: Could not find the planner configuration 'RRTConnectkConfigDefault' on the param server
[ERROR] [1528993777.330046872]: Could not find the planner configuration 'RRTstarkConfigDefault' on the param server
[ERROR] [1528993777.330620285]: Could not find the planner configuration 'TRRTkConfigDefault' on the param server
[ERROR] [1528993777.331185690]: Could not find the planner configuration 'PRMkConfigDefault' on the param server
[ERROR] [1528993777.331821514]: Could not find the planner configuration 'PRMstarkConfigDefault' on the param server
[ERROR] [1528993777.332365152]: Could not find the planner configuration 'FMTkConfigDefault' on the param server
[ERROR] [1528993777.332903057]: Could not find the planner configuration 'BFMTkConfigDefault' on the param server
[ERROR] [1528993777.333557242]: Could not find the planner configuration 'PDSTkConfigDefault' on the param server
[ERROR] [1528993777.334391734]: Could not find the planner configuration 'STRIDEkConfigDefault' on the param server
[ERROR] [1528993777.335209338]: Could not find the planner configuration 'BiTRRTkConfigDefault' on the param server
[ERROR] [1528993777.337834268]: Could not find the planner configuration 'LBTRRTkConfigDefault' on the param server
[ERROR] [1528993777.340810491]: Could not find the planner configuration 'BiESTkConfigDefault' on the param server
[ERROR] [1528993777.343505094]: Could not find the planner configuration 'ProjESTkConfigDefault' on the param server
[ERROR] [1528993777.344906710]: Could not find the planner configuration 'LazyPRMkConfigDefault' on the param server
[ERROR] [1528993777.346300595]: Could not find the planner configuration 'LazyPRMstarkConfigDefault' on the param server
[ERROR] [1528993777.347891216]: Could not find the planner configuration 'SPARSkConfigDefault' on the param server
[ERROR] [1528993777.352570257]: Could not find the planner configuration 'SPARStwokConfigDefault' on the param server
i know they are from the drop down menu of the OMPL planning library section. what should i edit to fix this?
EDIT:
Current ompl_planning.yaml (fixed through the fix i mentioned)
planner_configs:
SBL:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
EST:
type: geometric::EST
range: 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: 0.05
LBKPIECE:
type: geometric::LBKPIECE
range: 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: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECE:
type: geometric::BKPIECE
range: 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: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
...
manipulator:
default_planner_config: RRTConnect
planner_configs:
- SBL
- EST
- LBKPIECE
- BKPIECE
- ...
projection_evaluator: joints(joint_1,joint_2)
longest_valid_segment_fraction: 0.005
Prior to the fix, all of the names under the "planner_configs:" line were concatenated with kConfigDefault, along with the base names up top such as TRRT, RRTConnect, etc. Moveit looks for the base names, and a default, but if all of them are labeled default like mine was, it caused an issue.
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