Hello!
I am currently in the process of implementing a custom planner for my robot arm through MoveIt!.
Looking at the documentation and at various forums, there seems to be two approaches.
1. Install OMPL from source and add your custom planner to OMPL. Then change the corresponding MoveIt! OMPL package to recognize this new planner.
[[1]](https://web.archive.org/web/20141025194602/http://moveit.ros.org/wiki/OMPL/Add_New_Planner)
[[2]](https://answers.ros.org/question/296238/custom-state-sampler-in-moveit/)
[[3]](https://ompl.kavrakilab.org/newPlanner.html)
[[4]](https://groups.google.com/forum/#!topic/moveit-users/Hm0Ah-ABeKI)
2. Use the motion planning plugin to directly add a planner to MoveIt!
[[5]](https://moveit.ros.org/documentation/concepts/)
[[6]](http://wiki.ros.org/industrial_trajectory_filters/Tutorials/PlanningRequestAdapterTutorial)
My questions about implementing these custom planners are:
1. What are the pros and cons of each approach? Is there any advantage for using OMPL over directly implementing the planner into MoveIt! via a plugin?
2. Is there any additional tutorial/documentation for the second approach, implementing a planner plugin? It seems to me that the few sources/tutorials about implementing custom planners refer to the OMPL approach. Am I missing other tutorials about creating MoveIt! planning plugins?
3. Are there alternative approaches that I may have missed?
Thank you for taking the time to read and respond.
###Sources
[1] https://web.archive.org/web/20141025194602/http://moveit.ros.org/wiki/OMPL/Add_New_Planner
[2] https://answers.ros.org/question/296238/custom-state-sampler-in-moveit/
[3] https://ompl.kavrakilab.org/newPlanner.html
[4] https://groups.google.com/forum/#!topic/moveit-users/Hm0Ah-ABeKI
[5] https://moveit.ros.org/documentation/concepts/
[6] http://wiki.ros.org/industrial_trajectory_filters/Tutorials/PlanningRequestAdapterTutorial
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