From fca81d41df74d58137452ae75b59aa55ffb098eb Mon Sep 17 00:00:00 2001
From: "David V. Lu" <davidvlu@gmail.com>
Date: Fri, 16 Apr 2021 17:18:31 -0400
Subject: [PATCH] Set Default Planner (ROS 1)

---
 stretch_moveit_config/config/ompl_planning.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/stretch_moveit_config/config/ompl_planning.yaml b/stretch_moveit_config/config/ompl_planning.yaml
index d2b037a..e59094e 100644
--- a/stretch_moveit_config/config/ompl_planning.yaml
+++ b/stretch_moveit_config/config/ompl_planning.yaml
@@ -128,7 +128,7 @@ planner_configs:
     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
     max_failures: 5000  # maximum consecutive failure limit. default: 5000
 stretch_arm:
-  default_planner_config: None
+  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL
@@ -155,7 +155,7 @@ stretch_arm:
     - SPARS
     - SPARStwo
 stretch_gripper:
-  default_planner_config: ""
+  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL