Zachary Kingston

Use message, not hash for comparison in OMPL planner

2

Fixes #256 from @werner291

Addresses https://github.com/KavrakiLab/kl_robots/issues/29 Users should have: 1. setHybridize(true) 2. useMaxMinClearanceObjective() 3. Planning request with >1 planning attempts This should have the planner optimize for maximizing the minimum clearance from obstacles.

[META] Bugs & Issues related to MoveIt and other upstream packages

1

This issue is a meta-issue of all problems that arise from issues in MoveIt, collected here for convenience. **MoveIt** 1. Segfault in OMPL Interface Planner when using floating joints: https://github.com/KavrakiLab/robowflex/issues/239...

WIP: Add multi-goal planning to LazyPRM/LazyPRM*

1

Fixes #776. Before, LazyPRM would simply use the first sampled goal. This should enable LazyPRM to plan to multiple goals.

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