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Change Planner in MoveIt Python

asked 2017-02-28 04:15:33 -0500

Rhemus gravatar image

Hey guys, i want to change the default motion planner from OMPL in MoveIt to "PRMkConfigDefault". But how can i change for example the planner for planning my group: group = MoveGroupCommander("manipulator") in Python? Thanks for your answers! Im running ROS Indigo on Ubuntu 14.04.

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answered 2017-02-28 04:23:07 -0500

rbbg gravatar image

You can use the MoveGroupCommander.set_planner_id() function for this. Have a look at the API documentation

An example:

group = moveit_commander.MoveGroupCommander("manipulator")
group.set_planner_id("PRMkConfigDefault")

Good luck!

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Thanks that worked well!

Rhemus gravatar imageRhemus ( 2017-02-28 04:32:00 -0500 )edit

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Asked: 2017-02-28 04:15:33 -0500

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Last updated: Feb 28 '17