I want to have a deeper understanding of how motion planning works behind the scene.
I know MoveIt package is using Open Motion Planning Library (OMPL) by default, but I am not sure what motion planner we are using in our practice from this library.
Here is a link listing all available planners from OMPL
Can I get some help to find the right motion planner we are employing?
Also, I often encountered a term, kinematic solver. It seems like to be used for motion planning, but I am still not sure if they are related. I just want to know if they are related to each other and if so I will study further by myself.
Help me, please!