Clopema ompl

In clopema_testbed/clopema_config/launch/clopema_$(PARTNER).launch, here is this parameter:

<param name="/clopema_planner" value="RRTConnectkConfigDefault"/>

This can be set to:
  • RRTConnectkConfigDefault - old planner (like you have been using before)
  • RRTstarmoddedkConfigDefault - new modified OMPL planner

RobotCommander will then use selected planner.