{"action":"created","issue":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/193","labels_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/193/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/193/comments","events_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/193/events","html_url":"https://github.com/ros-industrial/universal_robot/issues/193","id":64032654,"number":193,"title":"RRTConnect as default planning algorithm for Indigo","user":{"login":"marcoesposito1988","id":439893,"avatar_url":"https://avatars.githubusercontent.com/u/439893?v=3","gravatar_id":"","url":"https://api.github.com/users/marcoesposito1988","html_url":"https://github.com/marcoesposito1988","followers_url":"https://api.github.com/users/marcoesposito1988/followers","following_url":"https://api.github.com/users/marcoesposito1988/following{/other_user}","gists_url":"https://api.github.com/users/marcoesposito1988/gists{/gist_id}","starred_url":"https://api.github.com/users/marcoesposito1988/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marcoesposito1988/subscriptions","organizations_url":"https://api.github.com/users/marcoesposito1988/orgs","repos_url":"https://api.github.com/users/marcoesposito1988/repos","events_url":"https://api.github.com/users/marcoesposito1988/events{/privacy}","received_events_url":"https://api.github.com/users/marcoesposito1988/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":12,"created_at":"2015-03-24T15:55:04Z","updated_at":"2015-05-21T14:44:42Z","closed_at":null,"body":"Hi guys,\r\n\r\nsince upgrading to Indigo I encountered some problems with the planning performance (this seems to be a common issue: see [the moveit-users mailing list](https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg)).\r\n\r\nThere seem to be two possible solutions to this problem:\r\n- set the \"planning attempts\" number to 1 (suggested by Stefan Kohlbrecher in the mailing list above)\r\n- select the RRTConnect planning algorithm (I opened a bug in the OMPL tracker about the default planning algorithm: while LBKPIECE1 looks to be sensible for most robots, the URs do not seem to belong to this category)\r\n\r\nWhile the first solution appears to lead to faster planning, I think that the second one should be more robust for complex scenarios. In any case I think that one of the two actions should be taken: since Indigo, so one year now, I get 2 seconds planning time out of the box for the UR5. Any of the above paths guarantees a planning time less than 0.1 seconds (on my machine)."},"comment":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/comments/104304224","html_url":"https://github.com/ros-industrial/universal_robot/issues/193#issuecomment-104304224","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/193","id":104304224,"user":{"login":"ipa-fxm","id":508006,"avatar_url":"https://avatars.githubusercontent.com/u/508006?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-fxm","html_url":"https://github.com/ipa-fxm","followers_url":"https://api.github.com/users/ipa-fxm/followers","following_url":"https://api.github.com/users/ipa-fxm/following{/other_user}","gists_url":"https://api.github.com/users/ipa-fxm/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-fxm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-fxm/subscriptions","organizations_url":"https://api.github.com/users/ipa-fxm/orgs","repos_url":"https://api.github.com/users/ipa-fxm/repos","events_url":"https://api.github.com/users/ipa-fxm/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-fxm/received_events","type":"User","site_admin":false},"created_at":"2015-05-21T14:44:42Z","updated_at":"2015-05-21T14:44:42Z","body":"I'm afraid to say that I haven't yet been able to test this in more detail....\r\nYour explanations sound all reasonable...I hope I can find the time to test this beginning of June...\r\nSorry!"}}