# Revision history [back]

Hey,

You need to create a new planning configuration that has the new planner name.

Open pr2_arm_navigation_planning/config/ompl_planning.yaml and update to something like this:

right_arm:
planner_type: JointPlanner
planner_configs:
- SBLkConfig1
- RRTConnectkConfig1
- LBKPIECEkConfig1


Make sure you follow the syntax correctly. The error you have seems to be a parsing one.

Then, you need to define what RRTConnectkConfig1 means. At the bottom of the file, where you have the planner_configs, update to something like this:

planner_configs:
SBLkConfig1:
type: kinematic::SBL

RRTConnectkConfig1:
type: kinematic::RRTConnect

LBKPIECEkConfig1:
type: kinematic::LBKPIECE



For the list of possible planner types to use see ompl_ros_planning_group.cpp in ompl_interface_ros. I'm sorry for the poor documentation. This will be easier in MoveIt!