What if I want to implement other planners like RRTstar?

[ChrisSB]

It seems like Moveit2 automatically chooses RRTConnect for path planning, but I would like to implement and test other path planning algorithms like RRTstar from OMPL. Does anyone got any advice on how I can do that?

[albertoezquerro]

Hello @ChrisSB ,

You would need to add a configuration file for OMPL, for instance, something like this:

ompl_planning.yaml

planning_plugin: ompl_interface/OMPLPlanner

planner_configs:
  RRTConnectkConfigDefault:
    type: geometric::RRTConnect
    range: 0.0
  RRTstarkConfigDefault:
    type: geometric::RRTstar
    range: 0.0
    goal_bias: 0.05
    delay_collision_checking: 1

ur_manipulator:
  default_planner_config: RRTstarkConfigDefault
  planner_configs:
    - RRTConnectkConfigDefault
    - RRTstarkConfigDefault

This will allow you to use RRTstar as planner.

Hope this helps,