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what planner does moveit use by default and how to change it?

asked 2020-02-14 17:12:33 -0500

rkman gravatar image

What kind of path planner does moveit use? Is there any documentation on how to choose a planner in python? I see the documentation on how to plan paths for the manipulators, but how do we choose the path planner for the task? I am working on path planning of panda arm on ros kinetic and I was under the assumption that moveit uses RRT by default. Could anyone please clarify this issue for me?

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answered 2020-11-17 11:43:56 -0500

Kappa95 gravatar image

updated 2020-11-17 11:45:20 -0500

Maybe for this answer i can answer: there are different planners that you can use with moveit and "different types" like OMPL, CHOMP http://docs.ros.org/en/kinetic/api/mo... or STOMP. I don't know the details because i'm using OMPL types and i'm still finding the best one for my robot. For example OMPL planners can be found here: http://ompl.kavrakilab.org/planners.html There is also a good PDF on their website which explains the differents main types.
About how to choose the planner with Python i'm using this command: group_l.set_planner_id(planner). Where group_l for me is the MoveitCommander object of the left arm. planner is the string variable that defines the ID of the planner, it's a string variable. The planner IDs and the parameters of the planners can be found in the file ompl_planning.yaml under your folder moveit_config of your workspace.

I hope to have answer correctly to your question. See you!

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answered 2020-03-06 09:43:58 -0500

rkman gravatar image

When you look at the documentation of the robot commander class, you can see the planners available. Set the planner ID for the robot using the desired values.

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answered 2020-02-15 04:48:14 -0500

gvdhoorn gravatar image
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Got it. Thank you very much.

rkman gravatar image rkman  ( 2020-02-24 15:01:10 -0500 )edit

@gvdhoorn Will you post this as an answer?

fvd gravatar image fvd  ( 2020-03-03 07:47:49 -0500 )edit
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It's not really an answer though (or at least: not a very nice answer). Link-only answers are somewhat frowned upon.

gvdhoorn gravatar image gvdhoorn  ( 2020-03-03 12:49:06 -0500 )edit

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Asked: 2020-02-14 17:12:33 -0500

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Last updated: Nov 17 '20