Use the "Hybrid" collision checker and created a sample config file f…

…or parameters (#16)

fanuc_moveit_config/config/chomp_planning.yaml

@@ -0,0 +1,25 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+animate_path: true
+add_randomness: false
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+hmc_discretization: 0.01
+hmc_stochasticity: 0.01
+hmc_annealing_factor: 0.99
+use_hamiltonian_monte_carlo: false
+ridge_factor: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+animate_endeffector: false
+animate_endeffector_segment: "r_gripper_tool_frame"
+joint_update_limit: 0.1
+collision_clearence: 0.2
+collision_threshold: 0.07
+random_jump_amount: 1.0
+use_stochastic_descent: true

fanuc_moveit_config/launch/chomp_planning_pipeline.launch.xml

@@ -8,4 +8,8 @@
    <param name="planning_plugin" value="$(arg planning_plugin)" />
    <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
 
+   <param name="collision_detector" value="Hybrid" />
+
+   <rosparam command="load" file="$(find moveit_resources)/fanuc_moveit_config/config/chomp_planning.yaml" />
+
 </launch>