I am attempting to change the default planner for moveit from LBKPIECE1 to ESTkConfigDefault. I have tried appending:
default_planner_config: ESTkConfigDefault
to the end of my ompl_planning.yaml with no success. I have yet to find any other way to accomplish this from either the command line or through configuration files. My full ompl_planning.yaml file is copied below in case it is relevant.
planner_configs:
SBLkConfigDefault:
type: geometric::SBL
ESTkConfigDefault:
type: geometric::EST
LBKPIECEkConfigDefault:
type: geometric::LBKPIECE
BKPIECEkConfigDefault:
type: geometric::BKPIECE
KPIECEkConfigDefault:
type: geometric::KPIECE
RRTkConfigDefault:
type: geometric::RRT
RRTConnectkConfigDefault:
type: geometric::RRTConnect
RRTstarkConfigDefault:
type: geometric::RRTstar
TRRTkConfigDefault:
type: geometric::TRRT
PRMkConfigDefault:
type: geometric::PRM
PRMstarkConfigDefault:
type: geometric::PRMstar
manipulator:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
longest_valid_segment_fraction: 0.05
default_planner_config: ESTkConfigDefault
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