Increase the default discretization of collision checking motions #321
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Allows for smaller collision objects at the cost of increased planning time
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+1. Merging. This is just a default value. I see no merit in porting it back to older distros. |
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Many users have complained about collision checking missing small obstacles (ref). This will change the default value new users use when setting up a robot with MoveIt!. I'd actually prefer smaller (I use 0.005 in my configs), but I figure increasing the collision checking planning time by 5x is a big enough change for now.
Interestingly, the old arm navigation used 0.001, a very small value.
I think we should just keep this in kinetic, though we could pick it to IJ.