From e11b5a9fdcf0f03fdf254616ea0278956202e29e Mon Sep 17 00:00:00 2001 From: niemsoen Date: Fri, 9 Jan 2026 09:39:19 +0000 Subject: [PATCH] Correct naming and order of planning response adapters 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 --- .../time_parameterization_tutorial.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/examples/time_parameterization/time_parameterization_tutorial.rst b/doc/examples/time_parameterization/time_parameterization_tutorial.rst index 631cdbc496..abc6f32ffc 100644 --- a/doc/examples/time_parameterization/time_parameterization_tutorial.rst +++ b/doc/examples/time_parameterization/time_parameterization_tutorial.rst @@ -30,11 +30,11 @@ A time parameterization algorithm such as TOTG calculates velocities and acceler To apply the Ruckig smoothing algorithm, jerk limits should be defined in a ``joint_limits.yaml`` file. If you do not specify a jerk limit for any joint, a reasonable default will be applied and a warning printed. -Finally, add the Ruckig smoothing algorithm to the list of planning request adapters (typically in ``ompl_planning.yaml``). The Ruckig smoothing algorithm should run last, so put it at the top of list: +Finally, add the Ruckig smoothing algorithm to the list of planning response adapters (typically in ``ompl_planning.yaml``). The Ruckig smoothing algorithm should run after AddTimeOptimalParameterization, so put it below AddTimeOptimalParameterization in the list: .. code-block:: yaml response_adapters: - - default_planning_request_adapters/AddRuckigTrajectorySmoothing - - default_planning_request_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/AddRuckigTrajectorySmoothing ...