diff --git a/rbs_mill_assist/launch/moveit.launch.py b/rbs_mill_assist/launch/moveit.launch.py
index af05a6a..51f7fdc 100644
--- a/rbs_mill_assist/launch/moveit.launch.py
+++ b/rbs_mill_assist/launch/moveit.launch.py
@@ -4,7 +4,7 @@ from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.substitutions import (
     LaunchConfiguration,
 )
-from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils import MoveItConfigsBuilder, moveit_configs_builder
 
 
 def generate_launch_description():
@@ -88,7 +88,6 @@ def launch_setup(context, *args, **kwargs):
     }
     use_sim_time = {"use_sim_time": use_sim_time}
 
-
     moveit_config = (
         MoveItConfigsBuilder(robot_name="rbs_arm", package_name="rbs_mill_assist")
         .trajectory_execution(file_path="moveit/moveit_controllers.yaml")
@@ -96,19 +95,31 @@ def launch_setup(context, *args, **kwargs):
         .pilz_cartesian_limits("moveit/pilz_cartesian_limits.yaml")
         .robot_description_kinematics("moveit/kinematics.yaml")
         .robot_description_semantic("srdf/rbs_arm.srdf", mappings={})
-        .planning_pipelines(pipelines=["ompl", "stomp"], default_planning_pipeline="stomp")
+        .planning_pipelines(
+            pipelines=["ompl", "stomp", "chomp"], default_planning_pipeline="ompl"
+        )
         .to_moveit_configs()
     )
+    planners_ids = [
+        "RRTstar",
+        "PRM",
+        "BiTRRT",
+        "SPARStwo",
+    ]
+    (
+        moveit_config.planning_pipelines["ompl"]
+        .setdefault("arm", {})
+        # .setdefault("planner_configs", {})
+        .update(
+            {"planner_configs":planners_ids}
+        )
+    )
 
     move_group_node = Node(
         package="moveit_ros_move_group",
         executable="move_group",
         namespace=namespace,
-        parameters=[
-            moveit_config.to_dict(),
-            robot_description,
-            use_sim_time
-        ],
+        parameters=[moveit_config.to_dict(), robot_description, use_sim_time],
     )
     planning_scene_publisher = Node(
         package="rbs_mill_assist",