Hello,

in order to work with sbpl and MoveIt! I need a sbplplanning.yaml-file. I allready have generated the MoveIt! configurtion files by MoveIt! Setup Assistant. Though there was only a omplplanning.yaml file generated.

Since I could not find a tutorial or example I ask you. I guess it has got the same structure as the ompl_planning.yaml but I'm note sure of the content (name of the planers)

In my case:

planner_configs:
  xxxConfigDefault:
    type: geometric::xxx
  yyykConfigDefault:
    type: geometric::yyy
  zzzkConfigDefault:
    type: geometric::zzz

arm:
  planner_configs:
    - xxxkConfigDefault
    - yyyConfigDefault
    - zzzkConfigDefault

dummy:
  planner_configs:
    - xxxkConfigDefault
    - yyyConfigDefault
    - zzzkConfigDefault

Am I on the right track?

Can Someone tell me where I can find any Sort of examples?

Thanks in advance viovio