set RRT as default planner

[k-okada]

set default planning config, which is supported on moveit 0.7
moveit/moveit_ros#625

[rethink-imcmahon]

This is very interesting! If no planner was specified before, what would MoveIt default to? Was it RRTConnect? I would like to keep the functionality the same, if possible.

[k-okada]

Currently, they use LBKPIECE as a default planner and it tend to generate
redundant path or sometimes it failed to find solution, whereas rrt gives
better solution.
I haven't choose RRT just because I'm familiar with that, did not compared
with other algorithms.

◉ Kei Okada

On Tue, Feb 9, 2016 at 4:34 AM, Ian McMahon [email protected]
wrote:

This is very interesting! If no planner was specified before, what would
MoveIt default to? Was it RRTConnect? I would like to keep the
functionality the same, if possible.

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#41 (comment)
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[rethink-imcmahon]

That rational sounds good to me. I happen to use RRTConnect in a lot of my testing for exactly that reason.

[rethink-imcmahon]

Thanks for the contribution @k-okada!