Dave Coleman

> That way you don't need to test for clearance on the edges. I don't understand - you can sample two vertices with proper clearance but have their associated edge...

That's true. I've been working on the smoother recently so this is now very fresh in my mind. I'm using a clearance amount on the DiscreteMotionValidator when using `geometric/PathSimplifier` _until...

As we discussed via email, this sounds like a good plan to me. The only change I would recommend is to convert the 'master' branch instead? It has a lot...

Please see source installation instructions for OMPL [here](http://moveit.ros.org/install/source/dependencies/). Note that they are for ROS Kinetic.

@vatanaksoytezer this PR is over a year old, is it still relevant?

Can that get prioritized in the next MoveIt sprint somehow?

Out of curiosity, do you have DEBUG output enabled for all your MoveIt-related ROS nodes? There is some useful stuff in there once you filter out the noise. And I've...

Could you explain more why you would want this? You'd like to load saved collision objects and planning scenes from Warehouse using the Commander scripting language?

Sounds like a good idea. I've never much liked the mongodb (that's what it is, right?) backend of warehouse, but in theory these are very useful features, especially from Commander.

Could you give an example?