The ROS-I team at SwRI has just published a blog post on real-time path planning for large work volume industrial robotics installations. Check out the details over at ros-i.org and try out the included example over at: https://github.com/ros-industrial-consortium/tesseract_ros
https://rosindustrial.org/news/2020/8/4/real-time-trajectory-planning-for-industrial-robots