Re: MoveIt Planner not finding solutions ever! (Please Help, i'm desperate)

[Sachin Chitta]

Hi Mustafa,

It looks like your goal is invalid - try moving to a different goal position that you know works with the Rviz plugin.

Sachin

On Sat, Oct 31, 2015 at 8:59 AM, <mustafa...@gmail.com> wrote:

Hello!
im doing a university project porting a small self made Kuka robot to ROS with an ethernet arduino connection. Everything is working perfectly, even the planner is finding solutions and all, but only through the plugin. When writing a node to move everything, i always get the same error for planning IK but for FK it works perfectly. Please Help, i tried everything i could with no change. I tried different move_group functions, different urdfs, different srdf, different goal poses, different planners, different IK parameters...Thanks a million for your help!

Here's a couple of files and my error log:

[ INFO] [1446306454.827513461]: Loading robot model 'kuka_krquantecmodel'...

[ INFO] [1446306455.154015359]: Loading robot model 'kuka_krquantecmodel'...

[ INFO] [1446306455.515068895]: Starting scene monitor

[ INFO] [1446306455.521216972]: Listening to '/move_group/monitored_planning_scene'

[ INFO] [1446306456.925541844]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.

[ INFO] [1446306456.932908454]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''

[ INFO] [1446306457.821755032]: Ready to take MoveGroup commands for group manipulator.

[ INFO] [1446306457.821878719]: Looking around: no

[ INFO] [1446306457.821958160]: Replanning: no

[ INFO] [1446306470.302649837]: Loading robot model 'kuka_krquantecmodel'...

[ INFO] [1446306470.616464850]: Loading robot model 'kuka_krquantecmodel'...

[ INFO] [1446306471.668497948]: Ready to take MoveGroup commands for group manipulator.

[ INFO] [1446306471.673173831]: Reference frame: /base_link

[ INFO] [1446306471.673240547]: Reference frame: tool0

[ INFO] [1446306471.981477397]: Pos X: 0.156500

[ INFO] [1446306471.981540093]: Pos Y: 0.000000

[ INFO] [1446306471.981567980]: Pos Z: 0.178400

[ INFO] [1446306471.981603142]: Rot X: 0.000000

[ INFO] [1446306471.981625490]: Rot Y: 0.707107

[ INFO] [1446306471.981656120]: Rot Z: 0.000000

[ INFO] [1446306471.981695124]: Rot W: 0.707107

[ INFO] [1446306471.982703425]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.

[ WARN] [1446306471.983134137]: 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] [1446306471.983268342]: Planning attempt 1 of at most 1

[ INFO] [1446306471.992488750]: No planner specified. Using default.

[ INFO] [1446306471.992815729]: LBKPIECE1: Attempting to use default projection.

[ INFO] [1446306471.995418053]: LBKPIECE1: Starting planning with 1 states already in datastructure

[ERROR] [1446306476.999077197]: LBKPIECE1: Unable to sample any valid states for goal tree

[ INFO] [1446306476.999131494]: LBKPIECE1: Created 1 (1 start + 0 goal) states in 1 cells (1 start (1 on boundary) + 0 goal (0 on boundary))

[ INFO] [1446306476.999156657]: No solution found after 5.006068 seconds

[ INFO] [1446306477.375786303]: Unable to solve the planning problem

[ INFO] [1446306477.376309856]: ABORTED: No motion plan found. No execution attempted.

^C[move_group_interface_tutorial-6] killing on exit

[mustafa...@gmail.com]

Hey Sachin,

thanks a lot for your reply. I managed to solve it yesterday and the problem turned out to be not directly related to MoveIt. That's why i deleted the topic from the MoveIt group. The problem was that we couldn't mount the last servo on our real model due to some reasons, so i turned it to a fixed joint in URDF, which i'm guessing made my robot a 5DOF robot that KDL couldn't solve, so MoveIt couldn't plan it too. After i reactivated the last joint, everything works perfectly!
I hope this could help someone having this problem too,

thanks again for the support,

have a nice day and greetings from Berlin!

Mustafa