Use different planner id (PILZ)

[mataruzz]

Hi,
I'm using your library to move a robotic arm. For some reason using the default planner I have problems in the planning. I would use the "pilz_industrilal_motion_planner" as pipeline_id but I found it only inside "moveit2.py" (line 1182) and it is commented.

What would you suggest to change the default planner and set pilz? Is it possible without changing the source?

[AndrejOrsula]

Hello,

Have you tried configuring the default planner in the *_moveit_config package of your robot? The place and how you change it would depend on how your config/launch scripts are structured. Try consulting the MoveIt 2 documentation, as that would be up-to-date.

I have not tried it myself, but I believe you would generally need to change parameters planning_pipelines and default_planning_pipeline such that they point to the pilz configuration (assuming you have it configured and the plugin is installed on your system).

[amalnanavati]

@mataruzz I believe #48 resolves this.