Why moveit always in collision?

[sam lin]

I use ROS groovy and real RP2.

I run roslaunch sam_moveit_wizard_generated moveit_planning_execution.launch

Then it open RViz and show the correct state of real PR2.

But when I add motion planning module, I found that PR2 seems always in collision.

It can't plan by press plan button whenever I random PR2's pose.



Why it happened?

How to solve it?

Thank you~

[sam lin]

I add something.

Whenever I press plan button, the console message shows:

[ INFO] [1404490619.106117781]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1404490619.108690941]: Found a contact between 'r_gripper_motor_accelerometer_link' (type 'Robot link') and 'r_force_torque_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1404490619.108731278]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1404490619.108763780]: Start state appears to be in collision with respect to group right_arm
[ WARN] [1404490619.714321174]: Unable to find a valid state nearby the start state (using jiggle fraction of 0.050000 and 100 sampling attempts). Passing the original planning request to the planner.
[ WARN] [1404490619.717993568]: Skipping invalid start state (invalid state)
[ERROR] [1404490619.718038349]: Motion planning start tree could not be initialized!
[ INFO] [1404490619.718079974]: No solution found after 0.001250 seconds
[ WARN] [1404490619.726627229]: Goal sampling thread never did any work.
[ INFO] [1404490619.726717850]: Unable to solve the planning problem
[ WARN] [1404490619.732055680]: Fail: ABORTED: No motion plan found. No execution attempted.



sam lin於 2014年7月5日星期六UTC+8上午12時11分50秒寫道：

[sam lin]

If I change the alpha, it shows more clearly.



sam lin於 2014年7月5日星期六UTC+8上午12時11分50秒寫道：