How to add a new planner in OMPL and use it in MoveIt!

[suuluu]

Hi

Does anyone know how to create a new planner in OMPL and use it in MoveIt!. There was a webpage before telling it but it become inaccessible recently.

Any information related to my topic would be appreciated!

P.S: My current ROS distribution is Kinetic.

[WangXF]

https://answers.ros.org/question/298345/different-ways-to-implement-custom-planners-with-moveit/

that may help you