Is there a more direct way to set up a planning node in ompl?

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Hi there! I've been reading about how to use ROS for a robotic arm path planning for a while and I actually got some feedback about a doubt I had in this topic.

For what I see, I'll have to write my own c++ code to define the StateValididyChecker procedure.

Now, I also understand the URDF of a robot has all the physic information one could need to extract the collision information, so isn't there a direct way that uses the URDF for the planning algorithm instead of defining a StateValidityChecker? Or am I just missing it?

Thanks a lot for the help. I'm hopping some day I could be the one answeing questions here :)