{"action":"created","issue":{"url":"https://api.github.com/repos/ros-planning/moveit/issues/197","repository_url":"https://api.github.com/repos/ros-planning/moveit","labels_url":"https://api.github.com/repos/ros-planning/moveit/issues/197/labels{/name}","comments_url":"https://api.github.com/repos/ros-planning/moveit/issues/197/comments","events_url":"https://api.github.com/repos/ros-planning/moveit/issues/197/events","html_url":"https://github.com/ros-planning/moveit/issues/197","id":174734250,"number":197,"title":"Change Default Planner","user":{"login":"v4hn","id":680358,"avatar_url":"https://avatars.githubusercontent.com/u/680358?v=3","gravatar_id":"","url":"https://api.github.com/users/v4hn","html_url":"https://github.com/v4hn","followers_url":"https://api.github.com/users/v4hn/followers","following_url":"https://api.github.com/users/v4hn/following{/other_user}","gists_url":"https://api.github.com/users/v4hn/gists{/gist_id}","starred_url":"https://api.github.com/users/v4hn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/v4hn/subscriptions","organizations_url":"https://api.github.com/users/v4hn/orgs","repos_url":"https://api.github.com/users/v4hn/repos","events_url":"https://api.github.com/users/v4hn/events{/privacy}","received_events_url":"https://api.github.com/users/v4hn/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/ros-planning/moveit/labels/enhancement","name":"enhancement","color":"84b6eb"}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":10,"created_at":"2016-09-02T11:02:20Z","updated_at":"2016-09-26T10:56:28Z","closed_at":null,"body":"Users often complain about ridiculous trajectories when they first use MoveIt.\r\n@130s ' video https://www.youtube.com/watch?v=e4XMzfvK6II beautifully demonstrates that the default planner is not really adequate anymore.\r\n\r\n@davetcoleman could you look into the details here and provide a patch that changes the default planner to something that - in your experience - produces better trajectories?"},"comment":{"url":"https://api.github.com/repos/ros-planning/moveit/issues/comments/249539630","html_url":"https://github.com/ros-planning/moveit/issues/197#issuecomment-249539630","issue_url":"https://api.github.com/repos/ros-planning/moveit/issues/197","id":249539630,"user":{"login":"v4hn","id":680358,"avatar_url":"https://avatars.githubusercontent.com/u/680358?v=3","gravatar_id":"","url":"https://api.github.com/users/v4hn","html_url":"https://github.com/v4hn","followers_url":"https://api.github.com/users/v4hn/followers","following_url":"https://api.github.com/users/v4hn/following{/other_user}","gists_url":"https://api.github.com/users/v4hn/gists{/gist_id}","starred_url":"https://api.github.com/users/v4hn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/v4hn/subscriptions","organizations_url":"https://api.github.com/users/v4hn/orgs","repos_url":"https://api.github.com/users/v4hn/repos","events_url":"https://api.github.com/users/v4hn/events{/privacy}","received_events_url":"https://api.github.com/users/v4hn/received_events","type":"User","site_admin":false},"created_at":"2016-09-26T10:56:28Z","updated_at":"2016-09-26T10:56:28Z","body":"So overall, there's a lot to be done. :D\r\n\r\nChanging to an optimizing planner for the default does not seem to be welcomed by both you and @davetcoleman, so I believe that's out of question.\r\n\r\nOf course there is no general purpose planner & parameterization that wins gold in all categories,\r\notherwise why bother to write a huge planning framework such as OMPL at all. :)\r\nThe original question was meant to be whether e.g. RTTConnect (which is quite popular recently) is a justified improvement over the current default LBKPIECE *for the default* planner in MoveIt. If people are not happy with the default, they can of course change it.\r\n\r\nI just opened one of my MoveIt setups (a UR5) in demo mode, set a random goal state and planned with LBKPIECE and RRTConnect. These are the resulting trajectories:\r\n\r\nLBKPIECE (after around 15s of planning time):\r\n![rviz_trajectory_lbkpiece](https://cloud.githubusercontent.com/assets/680358/18831278/367f95ae-83e5-11e6-961f-c18072baff9b.png)\r\n\r\nRRTConnect (around 3s):\r\n![rviz_trajectory_rrtconnect](https://cloud.githubusercontent.com/assets/680358/18831295/481b8ffc-83e5-11e6-9d92-559100f8cf24.png)\r\n\r\nThis is the first impression many users got over the last year(s?). I sure know which I would prefer to see when working with MoveIt for the very first time.\r\n\r\nSo I would propose to either set the default planner explicitly within MoveIt to `RRTConnect` or remove the default projection parameters from the setup assistant templates as @gavanderhoorn mentioned [above](https://github.com/ros-planning/moveit/issues/197?_pjax=%23js-repo-pjax-container#issuecomment-245537818). I believe @davetcoleman added the parameters there a while ago, so I'm interested in both your opinions on whether either of these makes some sense as a change for MoveIt kinetic."}}
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