Rviz motion planning plugin works but c++ interface produces non-optimal trajectories

[christinaionescu]

Hi,

I have a similar issue to the one posted here: moveit/moveit#3159

Motion planning with the rviz plugin looks fine but if I use the C++ interface it can plan a correct path to the goal pose but it is completely non-optimal as the trajectory makes a huge movement although the goal pose is just a small translation.

I do not understand if the issue lies within moveit or within this repository or somewhere else?
However, for me the error just occured unter noetic, I had it running on melodic before and that was fine.

Do you have an idea?

Thank you and best regards