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moveit 添加障碍物路径规划如何有时会碰撞有时不会,咋调节，使用的默认ompl的geometric::RRTConnect，之前尝试设置过collision的padding但是还是一样
这边不加了 default_planner_request_adapters/AddTimeOptimalParameterization 就不会碰撞，但是规划的路径不能执行，执行就报错，显示路径时间不对