removing regression introduced in #658

[mlautman]

Description

Thisa regressions introduced in #658 which was raised in issue #955

This stops the setup assistant from appending kConfigDefault to planner names and correctly trims kConfigDefault from existing ompl_planning.yaml files.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extended the tutorials / documentation, if necessary reference
• Include a screenshot if changing a GUI
• Created tests, which fail without this PR reference
• Decide if this should be cherry-picked to other current ROS branches
• While waiting for someone to review your request, please consider reviewing another open pull request to support the maintainers

[gavanderhoorn]

Technically this looks ok, but I'm wondering whether removing the kConfigDefault is the right thing to do.

Perhaps @davetcoleman remembers why it was added in the first place.

[rhaschke]

I approve this change. For me, the suffix "kConfigDefault" always looked strange. However, it also acts as a reminder, that one can have multiple different configurations for a given OMPL planner - with different parameters.

[gavanderhoorn]

@rhaschke wrote:

However, it also acts as a reminder, that one can have multiple different configurations for a given OMPL planner - with different parameters.

exactly.

The entries in the config files and on the parameter server are not planners, but only sets of configuration items. Removing that suffix makes that slightly less obvious, but perhaps not enough to keep it.

[v4hn]

Please cherry-pick to melodic @mlautman

[mlautman]

@v4hn done 6073eda

[davetcoleman]

Thanks for this bug fix @mlautman !