Correct naming and order of planning response adapters #1082
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The AddRuckigTrajectorySmoothing was mentioned as a request adapter, even though it is a response adapter. The order of response_adapters in the ompl_planning.yaml needs to be AddTimeOptimalParameterization first, then AddRuckigTrajectorySmoothing, which will correctly execute them in the order of (1) AddTimeOptimalParameterization, (2) AddRuckigTrajectorySmoothing
AndyZe
approved these changes
Jan 9, 2026
Author
|
@AndyZe Thank you for approving. Unfortunately the CI fails I believe for reasons that are not caused by this readme change. I see that the CI on main fails. As I'm not able to merge this I guess you will merge this at a later point when the CI works again? |
Member
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That's right. It's set to auto-merge now, as soon as the CI gets fixed. Thanks for the update. |
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Description
The AddRuckigTrajectorySmoothing was mentioned as a request adapter, even though it is a response adapter. The order of response_adapters in the ompl_planning.yaml needs to be AddTimeOptimalParameterization first, then AddRuckigTrajectorySmoothing, which will correctly execute them in the order of (1) AddTimeOptimalParameterization, (2) AddRuckigTrajectorySmoothing.
I changed the order of the response adapters and correctly named them as response, not request adapters.
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