Planner configuration

[AklingerFray]

Hello all,
We have a problem with the planners from Moveit. We tried several planners but only RRTkConfigDefault and RRTConnectkConfigDefault did work. All other planner throwed either the error

[ INFO] [1416319285.947520345]: Planning attempt 1 of at most 1
[ INFO] [1416319285.947656665]: Starting state is just outside bounds (joint 'lwr_link5'). Assuming within bounds.
[ INFO] [1416319285.963210705]: Loading robot model 'omnirob'...
[ INFO] [1416319286.650849893]: Planner configuration 'omnirob_lbr[RRTstarkConfigDefault]' will use planner 'geometric::RRTstar'. Additional configuration parameters will be set when the planner is constructed.
move_group: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = ompl::base::ProblemDefinition; typename boost::detail::sp_member_access<T>::type = ompl::base::ProblemDefinition*]: Assertion `px != 0' failed.
[move_group-5] process has died [pid 30329, exit code -6, cmd /opt/ros/indigo/lib/moveit_ros_move_group/move_group --debug __name:=move_group __log:=/home/omnirob/.ros/log/b32343ca-6f2a-11e4-a4e8-dc0ea1d29edf/move_group-5.log].
log file: /home/omnirob/.ros/log/b32343ca-6f2a-11e4-a4e8-dc0ea1d29edf/move_group-5*.log

or

[ INFO] [1416321737.821577536]: Planning attempt 1 of at most 1
[ INFO] [1416321737.839068089]: Planner configuration 'omnirob_lbr[LBKPIECEkConfigDefault]' will use planner 'geometric::LBKPIECE'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1416321737.839346265]: omnirob_lbr[LBKPIECEkConfigDefault]: Attempting to use default projection.
[ERROR] [1416321737.839474973]: No default projection is set. Perhaps setup() needs to be called
[ERROR] [1416321737.839652975]: OMPL encountered an error: No projection evaluator specified
[ INFO] [1416321737.846197685]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ WARN] [1416321737.846425042]: Execution of motions should always start at the robot's current state. Ignoring the state supplied as start state in the motion planning request
[ INFO] [1416321737.846545259]: Planning attempt 1 of at most 1
[move_group-5] process has died [pid 16501, exit code -11, cmd /opt/ros/indigo/lib/moveit_ros_move_group/move_group --debug __name:=move_group __log:=/home/omnirob/.ros/log/78ceea40-6f2e-11e4-8e01-dc0ea1d29edf/move_group-5.log].
log file: /home/omnirob/.ros/log/78ceea40-6f2e-11e4-8e01-dc0ea1d29edf/move_group-5*.log

We initialize the planning group with:

static planning_interface::MoveGroup group("omnirob_lbr");
group.setPoseReferenceFrame("manipulator_base_frame");
group.setNumPlanningAttempts(1000);
group.setPlanningTime(1);
group.setStartStateToCurrentState();
group.setGoalTolerance(0.005);
group.setPlannerId("PRMstarkConfigDefault");

Do we miss any critical part during the configuration? Or what could lead to these errors?

Sincerely,
Aklinger

[sharon temtsin]

Hey Aklinger,

Have you found  or fixed the problem?

[Andreas Kuhner]

Hey Sharon,

to be honest... I have no idea anymore. I guess we sticked to the two planner which worked and tried to fix the problems otherwise. But thats a long time ago, sorry.

Andreas

---

From: moveit...@googlegroups.com <moveit...@googlegroups.com> on behalf of sharon temtsin <temtsin...@gmail.com>
Sent: Tuesday, August 22, 2017 3:59:39 PM
To: MoveIt! Users
Subject: [moveit-users] Re: Planner configuration

 

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