how to set the parameters of OMPL for better planning

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Hi,Guys!

I use OMPL to plan a trajectory in MoveIt! There are several algorithms in OMPL such as RRTConnect, PRM. Using default config in the ompl_planning.yaml, the trajectory seems not that well. It is not the optimal one and has a lot to improve.

I wonder how to set the parameters of OMPL for better planning in MoveIt!. I found some tutorials like ompl_ros_interface, but it was for groovy and obviously out of dated. Is there any tutorials for indigo?

Can I modify the script in OMPL for better plannning or can I write a planner using RRT or PRM and load in MoveIt?

Looking forward to your help! Thanks!