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how to change default planner for moveit

asked 2014-06-19 15:31:46 -0500

airplanesrule gravatar image

I am attempting to change the default planner for moveit from LBKPIECE1 to ESTkConfigDefault. I have tried appending:

  default_planner_config: ESTkConfigDefault

to the end of my ompl_planning.yaml with no success. I have yet to find any other way to accomplish this from either the command line or through configuration files. My full ompl_planning.yaml file is copied below in case it is relevant.

planner_configs:
  SBLkConfigDefault:
    type: geometric::SBL
  ESTkConfigDefault:
    type: geometric::EST
  LBKPIECEkConfigDefault:
    type: geometric::LBKPIECE
  BKPIECEkConfigDefault:
    type: geometric::BKPIECE
  KPIECEkConfigDefault:
    type: geometric::KPIECE
  RRTkConfigDefault:
    type: geometric::RRT
  RRTConnectkConfigDefault:
    type: geometric::RRTConnect
  RRTstarkConfigDefault:
    type: geometric::RRTstar
  TRRTkConfigDefault:
    type: geometric::TRRT
  PRMkConfigDefault:
    type: geometric::PRM
  PRMstarkConfigDefault:
    type: geometric::PRMstar

manipulator:
  planner_configs:
    - SBLkConfigDefault
    - ESTkConfigDefault
    - LBKPIECEkConfigDefault
    - BKPIECEkConfigDefault
    - KPIECEkConfigDefault
    - RRTkConfigDefault
    - RRTConnectkConfigDefault
    - RRTstarkConfigDefault
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault

  projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
  longest_valid_segment_fraction: 0.05
  default_planner_config: ESTkConfigDefault
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answered 2016-02-08 21:26:07 -0500

Kei Okada gravatar image

you can set default planner with configuration file on latest moveit@indigo -> https://github.com/ros-planning/movei...

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6

answered 2014-12-17 06:34:47 -0500

VictorLamoine gravatar image

You can choose your solver by using the setPlannerId member of your MoveGroup:

  move_group_interface::MoveGroup group("manipulator");
  // See ompl_planning.yaml for a complete list
  group.setPlannerId("SBLkConfigDefault");
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Comments

which planner is used when no planner Id is specified ?

psfa_fz gravatar imagepsfa_fz ( 2015-01-30 10:18:13 -0500 )edit

If you remove the line:

projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)

the default will be RRTConnect, else LBKPIECE1.

I am also interested in a deterministic way to set the default planner.

marcoesposito1988 gravatar imagemarcoesposito1988 ( 2015-04-15 11:43:22 -0500 )edit

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Asked: 2014-06-19 15:31:46 -0500

Seen: 5,571 times

Last updated: Feb 08 '16