Use 1/0 instead of true/false in ompl_planning.yaml #460
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
If we set these parameters to "true" or "false, you will get the following error when planning:
```
`[moveit.planning_request_adapter]: Exception caught executing adapter 'Fix Start State In Collision': bad lexical cast: source type value could not be interpreted as target
[task_planning_action_server-1] Skipping adapter instead.`
```
In ompl_interface, these parameters are set using `boost::lexical_cast<bool>(it->second)`, which expects numbers as strings ("1" or "0") but will fail if passed a string like "true" or "false".
|
Sorry I forgot about this issue: |
|
In my opinion, it would be better to fix this in source code rather than updating the documentation. |
|
It would be nice to be ale to accept true/false, but we might want this change for consistency if anything. None of the other OMPL planning parameters use "true" or "false", they're set using booleans, for example: https://github.com/ros-planning/moveit_resources/blob/2c58cf3a2ed4e878a7a491572133670a44573c98/panda_moveit_config/config/ompl_planning.yaml#L43-L47 |
AndyZe
approved these changes
Jul 6, 2022
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
If you set the parameter in ompl_planning.yaml to "true" or "false" as suggested in the persistent roadmap section, you will get the following error when planning:
In ompl_interface, these parameters are set using
boost::lexical_cast<bool>(it->second), which expects numbers as strings ("1" or "0") but will fail if passed a string like "true" or "false".