Merge remote-tracking branch 'upstream/ros2' into ros2

sjahr · Oct 11, 2023 · f6b1882 · f6b1882
2 parents a16a334 + b25d2ba
commit f6b1882
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diff --git a/core/python/bindings/src/solvers.cpp b/core/python/bindings/src/solvers.cpp
@@ -78,8 +78,6 @@ void export_solvers(py::module& m) {
 	    .property<double>("goal_joint_tolerance", "float: Tolerance for reaching joint goals")
 	    .property<double>("goal_position_tolerance", "float: Tolerance for reaching position goals")
 	    .property<double>("goal_orientation_tolerance", "float: Tolerance for reaching orientation goals")
-	    .property<bool>("display_motion_plans", "bool: Publish generated solutions via a topic")
-	    .property<bool>("publish_planning_requests", "bool: Publish motion planning requests via a topic")
 	    .def(py::init<const std::string&>(), "pipeline"_a = std::string("ompl"));
 
 	properties::class_<JointInterpolationPlanner, PlannerInterface>(

diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
@@ -85,12 +85,6 @@ PipelinePlanner::PipelinePlanner(
 	properties().declare<double>("goal_position_tolerance", 1e-4, "tolerance for reaching position goals");
 	properties().declare<double>("goal_orientation_tolerance", 1e-4, "tolerance for reaching orientation goals");
 	// Declare properties that configure the planning pipeline
-	properties().declare<bool>("display_motion_plans", false,
-	                           "publish generated solutions on topic " +
-	                               planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC);
-	properties().declare<bool>("publish_planning_requests", false,
-	                           "publish motion planning requests on topic " +
-	                               planning_pipeline::PlanningPipeline::MOTION_PLAN_REQUEST_TOPIC);
 	properties().declare<std::unordered_map<std::string, std::string>>(
 	    "pipeline_id_planner_id_map", std::unordered_map<std::string, std::string>(),
 	    "Set of pipelines and planners used for planning");
@@ -144,12 +138,6 @@ void PipelinePlanner::init(const core::RobotModelConstPtr& robot_model) {
 		throw std::runtime_error(
 		    "Cannot initialize PipelinePlanner: Could not create any valid entries for planning pipeline maps!");
 	}
-
-	// Configure all pipelines according to the configuration in properties
-	for (auto const& name_pipeline_pair : planning_pipelines_) {
-		name_pipeline_pair.second->displayComputedMotionPlans(properties().get<bool>("display_motion_plans"));
-		name_pipeline_pair.second->publishReceivedRequests(properties().get<bool>("publish_planning_requests"));
-	}
 }
 
 bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,