Moveit! and URDF problem

[Maska Me]

Hello Dear Community!

I have a problem that I can't resolve during already a few days. I have created simple test robot arm in SolidWorks. 

I followed instructions on setting the axis correctly for all joints (X-forward, Z-up). 

I have exported URDF model from SolidWorks. 

I have created Moveit! config for this URDF model with Moveit! wizard. Models successfully loads into rviz. I can control it with robot_state_publisher GUI panel. 

But I can't set the Goal State for end-effector nor with Interactive Marker neither with the code. 

I always get "Fail: ABORTED: No motion plan found. No execution attempted.". I have uploaded to GoogleDrive two tars:

1. robot_arm.tar.gz (model exported from SolidWorks: URDF, meshes)
2. robot_arm_moveit_config.tar.gz (generated Moveit! config)

Could you please be so kind and review this packages, and tell me what I'm doing wrong! I really need help with this!

Great thanks ahead!

[Tobias Fromm]

Hello,

when I run your demo.launch, I am able to control the arm via the
interactive marker in Rviz, though I can't drag it directly, but only
with the arrows. It also plans and shows a path when I click "plan and
execute".
I'm not sure whether you've set up the MoveIt config the right way,
though, because there is no end effector defined in your SRDF. Maybe try
adding an end effector in the setup assistant?

Cheers,
Tobi

On 11/04/2013 09:49 PM, Maska Me wrote:
> Hello Dear Community!
> I have a problem that I can't resolve during already a few days. I have
> created simple test robot arm in SolidWorks.
> I followed instructions on setting the axis correctly for all joints
> (X-forward, Z-up).
> I have exported URDF model from SolidWorks.
> I have created Moveit! config for this URDF model with Moveit! wizard.
> Models successfully loads into rviz. I can control it with
> robot_state_publisher GUI panel.

> *But I can't set the Goal State for end-effector nor with Interactive
> Marker neither with the code. *

> I always get "Fail: ABORTED: No motion plan found. No execution
> attempted.". I have uploaded to GoogleDrive two tars:
>

> 1. *robot_arm.tar.gz* (model exported from SolidWorks: URDF, meshes)
> 2. *robot_arm_moveit_config.tar.gz* (generated Moveit! config)

>
> Could you please be so kind and review this packages, and tell me what I'm
> doing wrong! I really need help with this!
>
> Great thanks ahead!
>

--
Tobias Fromm
Robotics Group
Jacobs University

Research I, Room 38 +49-421-200-3106
Campus Ring 1 t.f...@jacobs-university.de
28759 Bremen, Germany http://robotics.jacobs-university.de

[Maska Me]

Dear Tobi,

Thanks for your participation!

I can see the Interactive Marker, I also can't directly move it but only with the arrows. And it would not be a problem if not the following issue. I can only set the End Effector (interactive marker) YZ in-plane of initial arm pose. I can't move the Interactive Marker along the X-axis. Have you been able to move marker along X?

Sincerely yours,

Alexey

[Maska Me]

I have set the position_only_ik: True in kinematics.yaml file and this has solved the problem.

[shai harel]

Thanks a lot maska,

I also had a similar problem,
and i'v bees stuck on that for a few days now

This is my new kinematics file

main:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05
  kinematics_solver_attempts: 3
  position_only_ik: True
gripper:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05
  kinematics_solver_attempts: 3
  position_only_ik: True

again,
thanks Maska :)