If I want to use some local planners algorithm between two waypoints, how can I integrate into the tesseract framework

[liuminL]

In some cases, local planners have relatively good performance, such as straight-line-arc planning without active obstacle avoidance in industry, ScLerp planning based on dual quaternions, etc. If need to use them, how to integrate these planners into the project architecture. I want to add them in tesseract_motion_planners. Is this appropriate?

[Levi-Armstrong]

@liuminL I apologize, I missed this issue. I think you should be able to implement it using the MotionPlanner interface. Then you can leverage the Profile concept for configuring the planner. I recommend to take a look at any of the existing motion planner implementations as a reference.