I'm unable to plan motion with RRT using multi_localpath steering method. I'm guessing these are related.
For now, to plan with the PR2, one need to deactivate the IK constraint + the multilocalpath
e.g. by changing the p3d files like following:
#DO NOT REMOVE THE FOLLOWING LINE TO USE MULTILOCALPATH -p3d_set_robot_steering_method Multi-Localpath +#p3d_set_robot_steering_method Multi-Localpath + +#DISABLING MULTILOCALPATH +p3d_set_robot_steering_method Linear
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