MoveIt: how to use class MoveGroup::MoveGroupImpl?

Question

Hi everyone,

I would like to use the function void setReplanningDelay(double delay) belonging to class MoveGroup::MoveGroupImpl, because I need to decrease the 2 seconds default value of replan_delay_. How could I implement that function? An example of code would be really helpful.

I think another option is to manually decrease that value, but this would require installing Moveit in the workspace I guess, but I would leave this option as the last resort.

ROS version: Kinetic Ubuntu: 16.04

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Originally posted by enrico on ROS Answers with karma: 117 on 2018-10-17

Post score: 0

Answer 1

I'm assuming you're talking about MoveGroupInterfaceImpl, since you're on Kinetic and MoveGroup was changed to MoveGroupInterface.

MoveGroupInterface uses the PImpl technique (https://en.cppreference.com/w/cpp/language/pimpl). In order to access void setReplanningDelay(double delay) you will need to to build your own MoveIt and add a function to the MoveGroupInterface which in turn calls Impl's function.

void moveit::planning_interface::MoveGroupInterface::setReplanningDelay(double delay)
{
  impl_->setReplanningDelay(delay);
}

This is taken from MoveIt's GitHub (there's a bunch of similar functions at the very end).

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Originally posted by pcoenen with karma: 249 on 2018-10-25

This answer was ACCEPTED on the original site

Post score: 1