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moveit / moveit_task_constructor

A hierarchical multi-stage manipulation planner
https://moveit.github.io/moveit_task_constructor
BSD 3-Clause "New" or "Revised" License
184 stars 152 forks source link

Change OMPL planner by default #551

Closed nachoorp closed 8 months ago

nachoorp commented 8 months ago

Hey everyone,

Im new with MTC and Im trying to test different OMPL planners for my pick and place task (similar to pick and place tutorial in ros2 humble). I want to change the default planner RRTconect with other like PRM for example . I tried to changed it on the ompl_interface.cpp but seems to keep using the RRTconect. Any help could be useful thank you all!

leander2189 commented 8 months ago

MTC is using the "Pipeline planner", that is, whatever you have configured for the move group. You should have an ompl_planner.yaml where RRTConnect is setup, and this file is fed to the move_group node in the launcher. If you want to try other planners, change the settings of that yaml file

LeroyR commented 8 months ago

setPlannerId should do that. Your ids are defined in the mentioned ompl_planner.yaml

auto pipeline = std::make_shared<solvers::PipelinePlanner>();
pipeline->setPlannerId("PRM");