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

asked 2020-02-14 17:12:33 -0600

rkman
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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 -0600

Kappa95

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updated 2020-11-17 11:45:20 -0600

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 -0600

rkman
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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.