From fa4595a3ec95ac7ff36c6a529daf964f4c9a53c4 Mon Sep 17 00:00:00 2001
From: tnaka <tnaka@users.noreply.github.com>
Date: Mon, 10 Aug 2020 17:20:00 +0900
Subject: [PATCH] Fix the order of planning_adapters (#511)

* Update chomp_planner_tutorial.rst

Fix the order of planning_adapters.
Add TimeParameterization should be on the top of the list.
See https://github.com/ros-planning/moveit/pull/2053

* Update planning_adapters_tutorial.rst
---
 doc/chomp_planner/chomp_planner_tutorial.rst         | 4 ++--
 doc/planning_adapters/planning_adapters_tutorial.rst | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/doc/chomp_planner/chomp_planner_tutorial.rst b/doc/chomp_planner/chomp_planner_tutorial.rst
index 24e0eec122..407e52b5ac 100644
--- a/doc/chomp_planner/chomp_planner_tutorial.rst
+++ b/doc/chomp_planner/chomp_planner_tutorial.rst
@@ -117,12 +117,12 @@ To achieve this, follow the steps:
       <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
       <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
         <arg name="planning_adapters" value="
+           default_planner_request_adapters/AddTimeParameterization
            default_planner_request_adapters/FixWorkspaceBounds
            default_planner_request_adapters/FixStartStateBounds
            default_planner_request_adapters/FixStartStateCollision
            default_planner_request_adapters/FixStartStatePathConstraints
-           chomp/OptimizerAdapter
-           default_planner_request_adapters/AddTimeParameterization"
+           chomp/OptimizerAdapter"
            />
       </include>
       <!-- load chomp config -->
diff --git a/doc/planning_adapters/planning_adapters_tutorial.rst b/doc/planning_adapters/planning_adapters_tutorial.rst
index 8eae45d988..3393dc4e51 100644
--- a/doc/planning_adapters/planning_adapters_tutorial.rst
+++ b/doc/planning_adapters/planning_adapters_tutorial.rst
@@ -41,12 +41,12 @@ To achieve this, follow the steps:
 #. Open the ``ompl_planning_pipeline.launch`` file in the ``<robot_moveit_config>/launch`` folder of your robot. For the Panda robot it is this `file <https://github.com/ros-planning/panda_moveit_config/blob/melodic-devel/launch/ompl_planning_pipeline.launch.xml>`_. Edit this launch file, find the lines where ``<arg name="planning_adapters">`` is mentioned and change it to: ::
 
     <arg name="planning_adapters"
-         value="default_planner_request_adapters/FixWorkspaceBounds
+         value="default_planner_request_adapters/AddTimeParameterization
+		default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision
                 default_planner_request_adapters/FixStartStatePathConstraints
-                chomp/OptimizerAdapter
-                default_planner_request_adapters/AddTimeParameterization" />
+                chomp/OptimizerAdapter" />
 
 #. The values of the ``planning_adapters`` is the order in which the mentioned adapters are called / invoked. Order here matters. Inside the CHOMP adapter, a :moveit_codedir:`call <moveit_planners/chomp/chomp_optimizer_adapter/src/chomp_optimizer_adapter.cpp#L169>` to OMPL is made before invoking the CHOMP optimization solver, so CHOMP takes the initial path computed by OMPL as the starting point to further optimize it.