Update ompl_planning.yaml file

[jesseli2002]

Ran the Moveit setup assistant, which basically rewrote the entire file. I've checked that demo.launch still works, but I'm not sure if there's something else I should verify as well.

[rhaschke]

Please adapt the projection_evaluators for all planning groups.

[rhaschke]

Please keep the projection_evaluator for each planning group.

[rhaschke]

... which is changed here.

[jesseli2002]

I've gone through and checked that the projection_evaluators for the previous version have been kept where given. I've also changed the arms_and_torso projection_evaluator from the default of joints(torso_lift_joint,l_shoulder_pan_joint) to joints(r_shoulder_pan_joint,l_shoulder_pan_joint), which is the same as the evaluator for whole_body.

Although - I've noticed that the projection_evaluator for the right and left arm groups aren't symmetric - as you've mentioned right_arm was previously link(r_wrist_roll_link) but left_arm is joints(l_shoulder_pan_joint,l_shoulder_lift_joint) - is there a good reason for this asymmetry?

[v4hn]

The whole PR2 configuration grew historically and probably contains some experimental changes too. Personally, I would consider generating a new one from scratch and replace the contents of this repository entirely to use MoveIt with a PR2 (and indeed this is what I do with a modified PR2 over here anyway). Thus, I'm actually somewhat lost with how to handle proposed local modifications to this repository...

[jesseli2002]

The whole PR2 configuration grew historically and probably contains some experimental changes too. Personally, I would consider generating a new one from scratch and replace the contents of this repository entirely to use MoveIt with a PR2 (and indeed this is what I do with a modified PR2 over here anyway). Thus, I'm actually somewhat lost with how to handle proposed local modifications to this repository...

That's what I've done in my work too. But replacing everything using the setup assistant doesn't work out of the box - I wasn't able to use demo.launch when it overwrites launch/pr2_moveit_controller_manager.launch.xml, and that file mentions a few plugin-specific parameters. A cursory search shows up other files that say they have plugin-specific values, but I guess they fail in quieter ways. I also believe the SRDF self-collision pairs were generated with the KINECT1 xacro arg set.

I think it'd be a good idea to replace everything that doesn't explicitly mention plugin-specific parameters for now, and I was planning to put in a sequence of pull requests to do that.