Revision history [back]

Years passed I still hit this post but not much other newer posts.

In ROS2 from launch, you can set default_planner_config in ompl_planning.yaml in each move-group (NOT for the entire yaml) e.g.:

arm_x:
  default_planner_config: PRMkConfigDefault
  planner_configs:
    - SBLkConfigDefault
    - ESTkConfigDefault
    - LBKPIECEkConfigDefault
    - BKPIECEkConfigDefault
    - KPIECEkConfigDefault
    - RRTkConfigDefault
    - RRTConnectkConfigDefault
    - RRTstarkConfigDefault
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault
  longest_valid_segment_fraction: 0.01

I think this feature was added a while ago in moveit_ros/pull/625 (same PR the answer above refers to) but might have slipped from documentation.

Years passed I still hit this post but not much other newer posts.

In ROS2 from launch, you can set default_planner_config in ompl_planning.yaml in each move-group (NOT for the entire yaml) e.g.:

arm_x:
  default_planner_config: PRMkConfigDefault
  planner_configs:
    - SBLkConfigDefault
    - ESTkConfigDefault
    - LBKPIECEkConfigDefault
    - BKPIECEkConfigDefault
    - KPIECEkConfigDefault
    - RRTkConfigDefault
    - RRTConnectkConfigDefault
    - RRTstarkConfigDefault
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault
  longest_valid_segment_fraction: 0.01

I think this feature was added a while ago in moveit_ros/pull/625moveit_ros!625 (same PR the answer above refers to) but might have slipped from documentation.