How tuning ompl parameters?

edit

I was struggling with the same problem 1,5 years after you posted this question. The tutorial Ed send didn't cover the fact to modify planners (that tutorial still has to be made or i just didn't find it).

You can change the parameters in your ompl_planning.yaml file after your planner is configured.

e.g.: change the 'range' parameter of RRT to 2.5:

RRTkConfigDefault:
    type: geometric::RRT
    range: 2.5

So only one small line has to be added to change the parameter.