How to change default planner in moveit

asked 2019-05-14 19:19:32 -0600

Tawfiq Chowdhury gravatar image

Planner is failing so I am trying to see if there is a way I can change the default planner. I tried this but this did not change the default planner which is LBKPIECE1

group.setPlannerId("SBLkConfigDefault")

What exactly is the procedure to change the planner?

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Comments

The default planner (within OMPL that is) can be configured using the MoveIt Setup Assistant, on the Planning Groups tab. See here for the guide.

I'm not sure whether there is a way to set the "default planner" using any API. You should be able to set the planner to use for subsequent requests using the function you mention though, but it could be that on Indigo (you tagged the question with indigo) this is not supported.

It could also be you're using an incorrect planner configuration ID (which is what SBLkConfigDefault is called). If you're sure setPlannerId(..) should work, you may want to try using just SBL).

gvdhoorn gravatar imagegvdhoorn ( 2019-05-15 02:04:00 -0600 )edit