Update tutorial

Author: sjahr

doc/examples/motion_planning_api/launch/motion_planning_api_tutorial.launch.py

@@ -48,7 +48,7 @@ def generate_launch_description():
         "moveit_resources_panda_moveit_config", "config/ompl_planning.yaml"
     )
 
-    planning_plugin = {"planning_plugin": "ompl_interface/OMPLPlanner"}
+    planning_plugins = {"planning_plugins": ["ompl_interface/OMPLPlanner"]}
 
     return LaunchDescription(
         [
@@ -61,7 +61,7 @@ def generate_launch_description():
                     robot_description_semantic,
                     kinematics_yaml,
                     planning_yaml,
-                    planning_plugin,
+                    planning_plugins,
                 ],
             )
         ]

doc/examples/motion_planning_api/src/motion_planning_api_tutorial.cpp

@@ -94,12 +94,12 @@ int main(int argc, char** argv)
   // Note that we are using the ROS pluginlib library here.
   std::unique_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager>> planner_plugin_loader;
   planning_interface::PlannerManagerPtr planner_instance;
-  std::string planner_plugin_name;
+  std::vector<std::string> planner_plugin_names;
 
   // We will get the name of planning plugin we want to load
   // from the ROS parameter server, and then load the planner
   // making sure to catch all exceptions.
-  if (!motion_planning_api_tutorial_node->get_parameter("planning_plugin", planner_plugin_name))
+  if (!motion_planning_api_tutorial_node->get_parameter("planning_plugin", planner_plugin_names))
     RCLCPP_FATAL(LOGGER, "Could not find planner plugin name");
   try
   {
@@ -112,7 +112,7 @@ int main(int argc, char** argv)
   }
   try
   {
-    planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_name));
+    planner_instance.reset(planner_plugin_loader->createUnmanagedInstance(planner_plugin_names.at(0)));
     if (!planner_instance->initialize(robot_model, motion_planning_api_tutorial_node,
                                       motion_planning_api_tutorial_node->get_namespace()))
       RCLCPP_FATAL(LOGGER, "Could not initialize planner instance");
@@ -124,8 +124,8 @@ int main(int argc, char** argv)
     std::stringstream ss;
     for (const auto& cls : classes)
       ss << cls << " ";
-    RCLCPP_ERROR(LOGGER, "Exception while loading planner '%s': %s\nAvailable plugins: %s", planner_plugin_name.c_str(),
-                 ex.what(), ss.str().c_str());
+    RCLCPP_ERROR(LOGGER, "Exception while loading planner '%s': %s\nAvailable plugins: %s",
+                 planner_plugin_names.at(0).c_str(), ex.what(), ss.str().c_str());
   }
 
   moveit::planning_interface::MoveGroupInterface move_group(motion_planning_api_tutorial_node, PLANNING_GROUP);

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

@@ -299,7 +299,7 @@ Using the planner
 The *pilz_industrial_motion_planner::CommandPlanner* is provided as a MoveIt Motion Planning
 Pipeline and, therefore, can be used with all other manipulators using
 MoveIt. Loading the plugin requires the param
-``/move_group/<pipeline_name>/planning_plugin`` to be set to ``pilz_industrial_motion_planner/CommandPlanner``
+``/move_group/<pipeline_name>/planning_plugins`` to be set to ``[pilz_industrial_motion_planner/CommandPlanner]``
 before the ``move_group`` node is started.
 For example, the `panda_moveit_config package
 <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config>`_
@@ -308,7 +308,7 @@ has a ``pilz_industrial_motion_planner`` pipeline set up as follows:
 
 ::
 
-    ros2 param get /move_group pilz_industrial_motion_planner.planning_plugin
+    ros2 param get /move_group pilz_industrial_motion_planner.planning_plugins
 
     String value is: pilz_industrial_motion_planner/CommandPlanner
 

doc/how_to_guides/stomp_planner/stomp_planner.rst

@@ -31,7 +31,7 @@ Using STOMP with Your Robot
 
 #. Simply add the `stomp_planning.yaml <https://github.com/ros-planning/moveit_resources/blob/ros2/panda_moveit_config/config/stomp_planning.yaml>`__ configuration file into the config directory of your MoveIt config package. It contains the plugin identifier, a planning pipeline adapter list, and the STOMP planning parameters. The config file should look like example below: ::
 
-    planning_plugin:
+    planning_plugins:
       - stomp_moveit/StompPlanner
     request_adapters:
       - default_planning_request_adapters/ResolveConstraintFrames