Hello ROS-community,
im using the moveit_config package to plan path for a six axis industrial robot arm.
When the move_group element is planning a new plan it publishes it in the topic "/display planned path".
I noticed that those paths are always >10.
I figured out that there are 2 parameter on the param-server:
1.
/move_group/ompl/minimum_waypoint_count := 10
1. /move_group/ompl/maximum_waypoint_distance :=50
When I changed the minimum_waypoint_count on runtime for example to 50, my move_group still produced paths with less than 50 waypoints.
When I restarted the planning node, it used the parameter and only produced paths with more than 50 waypoints.
How can I tell the move_group to refresh this parameter during runtime?
Thanks for help,
Carl
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