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Set value for is_primary_planning_scene_monitor in Servo example config YAML #1060

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Feb 4, 2022
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Set value for is_primary_planning_scene_monitor in Servo example config YAML #1060

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6 changes: 6 additions & 0 deletions moveit_ros/moveit_servo/config/panda_simulated_config.yaml
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Expand Up @@ -28,6 +28,12 @@ publish_joint_accelerations: false
## Plugins for smoothing outgoing commands
smoothing_filter_plugin_name: "online_signal_smoothing::ButterworthFilterPlugin"

# If is_primary_planning_scene_monitor is set to true, the Servo server's PlanningScene advertises the /get_planning_scene service,
# which other nodes can use as a source for information about the planning environment.
# NOTE: If a different node in your system is responsible for the "primary" planning scene instance (e.g. the MoveGroup node),
# then is_primary_planning_scene_monitor needs to be set to false.
is_primary_planning_scene_monitor: true

## MoveIt properties
move_group_name: panda_arm # Often 'manipulator' or 'arm'
planning_frame: panda_link0 # The MoveIt planning frame. Often 'base_link' or 'world'
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