ros-planning/moveit_ros — pull request #412 by davetcoleman (2014-02-07 16:16:45+00:00)
Title: Added ability to set a random <collision free> start/goal position

Simply added a new option in the drop down box of the Rviz Plugin "Planning" tab that allows you to set the start/goal position randomly and **collision-free**. It attempts to find a collision-free configuration 100 times before giving up.