The moveit_resources repo is a good place to look up usage examples. A lot of the tutorials use it.

Inside of that repo, you can find this:

https://github.com/ros-planning/moveit_resources/blob/master/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml

OMPL is the default planner that almost everybody uses. All you need to change is this line:

  <arg name="planning_adapters"
       default="default_planner_request_adapters/AddTimeParameterization

Change it to:

  <arg name="planning_adapters"
       default="default_planner_request_adapters/AddOptimalTimeParameterization

I agree that the MoveIt1 tutorial isn't the best. It's a little better in MoveIt2, at least.

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