updated defaults to fluid planning

src/TimedPlanner.cpp

@@ -22,7 +22,7 @@ namespace PlannerState {
   TrajectoryUtil traj_util;
 
   const double default_velocity = 1.0;
-  const std::string default_planning_mode = TrajectoryUtil::CARTESIAN_PATH;
+  const std::string default_planning_mode = TrajectoryUtil::FLUID_PATH;
 
   bool isInitialized = false;
   bool isLooping = true;
@@ -185,7 +185,7 @@ void doMotion(const ros::NodeHandle &node_handle, moveit::planning_interface::Mo
     }
 
     double velocity = 0.0;
-    std::string planning_mode;
+    std::string planning_mode = "";
 
     if (!node_handle.getParam("robot_speed_factor", velocity)) {
       velocity = PlannerState::default_velocity;