Most reliable version of Tesseract

[AmiQuijano]

Hello, thank you for your constant support.
I have been trying versions 0.29.1, 0.30.0 and 0.31.0 of tesseract, tesseract_planning, tesseract_qt, tesseract_ros2, and trajopt.

I have noticed that for each version, with the same conditions (robot, goal, obstacle, ifopt TRUE/FALSE, etc.), the planned trajectory changes.
Could you kindly indicate the most reliable version of tesseract to work with?
Additionally, is it possible to adjust collision checking constraints such as the allowed distance from obstacle?

Thanks a lot!

[Levi-Armstrong]

What differences were you seeing between these version?

[AmiQuijano]

With the freespace_hybrid_example, setting as goal a position clearly reachable by the robot, versions 30 and 31 gave failure several times while version 29.1 would always output success. It is true that since ompl planners are sampling-based the result could be different depending on the space sampled. However, for a very easy to reach goal I find it weird to have many failed attempts with versions 30 and 31.

[Levi-Armstrong]

What goal positions were you using when seeing the intermittent failures? This will be helpful to see if what might have changed to cause the failures.