Hi all,<br><br>After solving problems with environment_serve I started working on ompl_planning.<br>So far ompl can generate simple (without obstacles) trajectory for me, but when I create obstacle generated trajectory doesn&#39;t change and is discarded by environment_server.<br>

It look like opml_planning detect collision in some kind of post planning check but don&#39;t take in into account in trajectory planning.<br><br>URDF and simple launch for my robot is available in my repo :<br><a href="https://github.com/RCPRG-ros-pkg/irp6_robot">https://github.com/RCPRG-ros-pkg/irp6_robot</a> <br>

<br>All other configs I use in appendix.<br><br clear="all">Pozdrawiam<br>Konrad Banachowicz<br>