Cannot change planner in Moveit

edit

I would like to use the PRM* algorithm for planning, however, even though I changed the default planner in my ompl_planning.yaml file, it still uses RRT connect to plan. Are there any other files I need to modify in order to change the used planner? Any help would be appreciated, thank you!

EDIT: Because i forgot to specify, I am planning using the motion planning pipeline!

Here is my yaml file:

planner_configs:
  SBL:
    type: geometric::SBL
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
  EST:
    type: geometric::EST
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
  LBKPIECE:
    type: geometric::LBKPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
  BKPIECE:
    type: geometric::BKPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
  KPIECE:
    type: geometric::KPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
  RRT:
    type: geometric::RRT
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
  RRTConnect:
    type: geometric::RRTConnect
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
  RRTstar:
    type: geometric::RRTstar
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
  TRRT:
    type: geometric::TRRT
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
    max_states_failed: 10  # when to start increasing temp. default: 10
    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10 ...