How to set the number of threads used by DescartesLadderGraphSolverProfile

[JayanthSuresh]

I create a profile as shown below to be used for planning. The DescartesDefaultMoveProfileD doesn't expose the num_threads used by tesseract_planning::DescartesLadderGraphSolverProfile. How can I configure the number of threads?

 auto plan_profile = std::make_shared<tesseract_planning::DescartesDefaultMoveProfileD>();

    plan_profile->use_redundant_joint_solutions = true;
    plan_profile->enable_edge_collision = false;
    plan_profile->enable_collision = true;
    plan_profile->allow_collision = false;

    tesseract_collision::ContactRequest contact_request;
    contact_request.type = tesseract_collision::ContactTestType::FIRST;
    contact_request.calculate_distance = false;
    contact_request.calculate_penetration = false;
    auto collision_safety_margin_m = 0.01;

    plan_profile->vertex_collision_check_config = tesseract_collision::CollisionCheckConfig(
        contact_request, tesseract_collision::CollisionEvaluatorType::DISCRETE, collision_safety_margin_m);

    plan_profile->target_pose_fixed = false;
    plan_profile->target_pose_sample_axis = Eigen::Vector3d::UnitX();
    const auto resolution = (2 * M_PI) / descartes_params_.samples_count_;
    plan_profile->target_pose_sample_resolution = resolution;
    plan_profile->target_pose_sample_min = -M_PI;
    plan_profile->target_pose_sample_max = M_PI;

    profiles_->addProfile("DescartesMotionPlannerTask, "roll_tolerance_profile", plan_profile);

Should I just add the following?

   auto solver_profile = std::make_shared<tesseract_planning::DescartesLadderGraphSolverProfileD>();
   solver_profile->num_threads = 8;
   
    profiles_->addProfile("DescartesMotionPlannerTask, "roll_tolerance_profile", solver_profile);

[Levi-Armstrong]

Yes you need to add a solver profile with the desired number of threads as you have proposed.