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Minimal current valid parameters

Hi @ardabbour

I am following the discussion at ros-planning/navigation2#1646 and I want to test the current state of OMPL. I would like to use it in some experiments.

I know that this is a work in process, but I would like to know the parameters that you consider functional enough. With default parameters values, I get this error, and no path is generated:

[planner_server-9] Warning: Assuming propagation will always have between 1 and 10 steps
[planner_server-9]          at line 77 in /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/control/src/SpaceInformation.cpp
[planner_server-9] Warning: The propagation step size is assumed to be 0.286176
[planner_server-9]          at line 87 in /tmp/binarydeb/ros-foxy-ompl-1.5.0/src/ompl/control/src/SpaceInformation.cpp
[planner_server-9] Info:    No planner specified. Using default.
[planner_server-9] Info:    KPIECE1: Attempting to use default projection.
[planner_server-9] Info:    KPIECE1: Starting planning with 1 states already in datastructure
[planner_server-9] Debug:   KPIECE1: Numerical precision limit reached. Resetting costs.
[planner_server-9] Debug:   KPIECE1: Numerical precision limit reached. Resetting costs.
[planner_server-9] Debug:   KPIECE1: Numerical precision limit reached. Resetting costs.
[planner_server-9] Debug:   KPIECE1: Numerical precision limit reached. Resetting costs.
[planner_server-9] Debug:   KPIECE1: Numerical precision limit reached. Resetting costs.

[and never stops this last message]

Thanks!!
Francisco

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