"No Default Projection" Error

[David Altemir]

I recently changed my URDF and now the target poses I'm sending my robot with Moveit! and RViz are failing.  Here is some excerpted error messages:

[ INFO] [1395017491.517927692]: Planning request received for MoveGroup action. Forwarding to planning pipeline.

[ WARN] [1395017491.518921277]: Orientation constraint for link 'wrist_z' is probably incorrect: 0.000000, 0.000000, 0.000000, 0.000000. Assuming identity instead.

[ WARN] [1395017491.519193715]: Orientation constraint for link 'wrist_z' is probably incorrect: 0.000000, 0.000000, 0.000000, 0.000000. Assuming identity instead.

[ INFO] [1395017491.519460287]: Planner configuration 'robot_arm_group[SBLkConfigDefault]' will use planner 'geometric::SBL'. Additional configuration parameters will be set when the planner is constructed.

[ INFO] [1395017491.519571888]: robot_arm_group[SBLkConfigDefault]: Attempting to use default projection.

[ERROR] [1395017491.519622660]: No default projection is set. Perhaps setup() needs to be called

[ERROR] [1395017491.519755073]: OMPL encountered an error: No projection evaluator specified

What do these error messages mean and what can I do about this?

[Savant Krishna]

No default projection error occurs if you do not have projection_evaluator for the move_group you are planning for.
Check in ompl_planning.yaml to see there are lines such as below:

  projection_evaluator: joints(start_joint, end_joint)

  longest_valid_segment_fraction: 0.05

Also, see that you've reconfigured using moveit setup assistant after changing the urdf.

As for the warning in the orientation constraint, check that orientation goal quaternion is normalized.

It seems that orientation (i.e, x,y,z,w) for wrist_z are 0,0,0,0  which is not a valid quaternion. 

[David Altemir]

Thanks, Savant.  I saw those two lines in my ompl_planning.yaml file and I noticed that the end_joint that the Setup Assistant specified is not really the end joint.  It's joint in the middle of my linkage chain.  That didn't make much sense to me so I manually changed the end_joint to be "wrist_joint_z", which is the joint at the end of the arm to which the end effector will be attached.  Making that change, as you suggested, eliminated the "no default projection" error.

However, I also noticed the same thing in my other robot model that I thought was actually working.  It also had an end_joint that lay in the middle of the linkage chain.  I don't get it.  This together with some other oddities I've noticed with specifying target pose orientations leads me to suspect that the robot is interpreting my target poses in a way I did not expect.

I will post this issue as a separate post.