Robot Not Avoiding Self-Collisions

[David Altemir]

I have a robot that keeps colliding with itself when moving between two target poses.  When I execute the move, I get the following error message:

[ INFO] [1401112205.526915736]: Planning request received for MoveGroup action. Forwarding to planning pipeline.

[ INFO] [1401112205.567170954]: Planner configuration 'robot_arm_group[SBLkConfigDefault]' will use planner 'geometric::SBL'. Additional configuration parameters will be set when the planner is constructed.

[ INFO] [1401112205.567584667]: robot_arm_group[SBLkConfigDefault]: Attempting to use default projection.

[ INFO] [1401112205.568111375]: robot_arm_group[SBLkConfigDefault]: Starting with 1 states

[ INFO] [1401112205.623259396]: robot_arm_group[SBLkConfigDefault]: Created 89 (43 start + 46 goal) states in 72 cells (40 start + 32 goal)

[ INFO] [1401112205.625566940]: Solution found in 0.057716 seconds

[ INFO] [1401112205.627270395]: Path simplification took 0.000040 seconds

[ERROR] [1401112205.633932316]: Computed path is not valid. Invalid states at index locations: [ 1 2 3 4 5 6 7 8 ] out of 10. Explanations follow in command line. Contacts are published on /move_group/display_contacts

[ INFO] [1401112205.635861762]: Found a contact between 'forearm' (type 'Robot link') and 'base_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.

I looked in the SRDF file to make sure that collision between "forearm" and "base"link" is not disabled.  It is not. ROS appears to recognize that the rosot is indeed colliding with itself, so why wouldn't the motion plan avoid this self-collision?

[Steffen P]

This has already been answered here:

https://groups.google.com/forum/#!searchin/moveit-users/Invalid$20states$20at$20index$20locations/moveit-users/3ey_8A8mwsE/2KyAyyrW174J

[David Altemir]

Works great!  Thanks for the pointer.