lisacong
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lisacong
I have achieved to call InforemedRRTstar in moveit. But now I don't know which optimization_objective to choice.
After few days research，I know that InformedRRTstar should choice "PathLengthOptimizationObjective" as optimization_objective in ompl_planning.yaml. InfomedRRTstar will use PathLengthDirectInfSampler as informed sample. But i encounter a problem: in the algorithm of...