Adding comment explaining the choice of default planning algorithm

f518c4c0 · Marco Esposito · d9875b55 · f518c4c0 · f518c4c0
Commit f518c4c0 authored 9 years ago by Marco Esposito
--- a/ur10_moveit_config/config/ompl_planning.yaml
+++ b/ur10_moveit_config/config/ompl_planning.yaml
@@ -34,6 +34,8 @@ manipulator:
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault
+  ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
+  #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
  longest_valid_segment_fraction: 0.05
 endeffector:
  planner_configs:

--- a/ur5_moveit_config/config/ompl_planning.yaml
+++ b/ur5_moveit_config/config/ompl_planning.yaml
@@ -34,6 +34,8 @@ manipulator:
    - TRRTkConfigDefault
    - PRMkConfigDefault
    - PRMstarkConfigDefault
+  ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
+  #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
  longest_valid_segment_fraction: 0.05
 endeffector:
  planner_configs: