Allow users to set planner_id and pipeline_id (#48)

* Added set_planner_id

* Make planner_id and pipeline_id properties

* Add planner_id param to example files

* Formatting

examples/ex_joint_goal.py

@@ -38,6 +38,8 @@ def main():
     node.declare_parameter("synchronous", True)
     # If non-positive, don't cancel. Only used if synchronous is False
     node.declare_parameter("cancel_after_secs", 0.0)
+    # Planner ID
+    node.declare_parameter("planner_id", "RRTConnectkConfigDefault")
 
     # Create callback group that allows execution of callbacks in parallel without restrictions
     callback_group = ReentrantCallbackGroup()
@@ -51,6 +53,9 @@ def main():
         group_name=panda.MOVE_GROUP_ARM,
         callback_group=callback_group,
     )
+    moveit2.planner_id = (
+        node.get_parameter("planner_id").get_parameter_value().string_value
+    )
 
     # Spin the node in background thread(s) and wait a bit for initialization
     executor = rclpy.executors.MultiThreadedExecutor(2)

examples/ex_pose_goal.py

@@ -29,6 +29,8 @@ def main():
     node.declare_parameter("synchronous", True)
     # If non-positive, don't cancel. Only used if synchronous is False
     node.declare_parameter("cancel_after_secs", 0.0)
+    # Planner ID
+    node.declare_parameter("planner_id", "RRTConnectkConfigDefault")
 
     # Create callback group that allows execution of callbacks in parallel without restrictions
     callback_group = ReentrantCallbackGroup()
@@ -42,6 +44,9 @@ def main():
         group_name=panda.MOVE_GROUP_ARM,
         callback_group=callback_group,
     )
+    moveit2.planner_id = (
+        node.get_parameter("planner_id").get_parameter_value().string_value
+    )
 
     # Spin the node in background thread(s) and wait a bit for initialization
     executor = rclpy.executors.MultiThreadedExecutor(2)

pymoveit2/moveit2.py

@@ -1933,8 +1933,8 @@ def __init_move_action_goal(
         move_action_goal.request.path_constraints = Constraints()
         # move_action_goal.request.trajectory_constraints = "Ignored"
         # move_action_goal.request.reference_trajectories = "Ignored"
-        # move_action_goal.request.pipeline_id = "Ignored"
-        # move_action_goal.request.planner_id = "Ignored"
+        move_action_goal.request.pipeline_id = ""
+        move_action_goal.request.planner_id = ""
         move_action_goal.request.group_name = group_name
         move_action_goal.request.num_planning_attempts = 5
         move_action_goal.request.allowed_planning_time = 0.5
@@ -2056,6 +2056,22 @@ def allowed_planning_time(self) -> float:
     def allowed_planning_time(self, value: float):
         self.__move_action_goal.request.allowed_planning_time = value
 
+    @property
+    def pipeline_id(self) -> int:
+        return self.__move_action_goal.request.pipeline_id
+
+    @pipeline_id.setter
+    def pipeline_id(self, value: str):
+        self.__move_action_goal.request.pipeline_id = value
+
+    @property
+    def planner_id(self) -> int:
+        return self.__move_action_goal.request.planner_id
+
+    @planner_id.setter
+    def planner_id(self, value: str):
+        self.__move_action_goal.request.planner_id = value
+
 
 def init_joint_state(
     joint_names: List[str],