Switch to RRT*-Inf

Author: amalnanavati

ada_moveit/config/ompl_planning.yaml

@@ -53,7 +53,7 @@ planner_configs:
     range: 0.05  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
   RRTstarkConfigDefault:
     type: geometric::RRTstar
-    range: 3.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() (in practice, for ADA, this default is ~7)
+    range: 100.0 # 3.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() (in practice, for ADA, this default is ~7, around 20% of the maximum extent of the space)
     goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
     delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
   TRRTkConfigDefault: