MoveItErrorCode

edit

Hi all!

I use ROS Indigo and MoveIt for KUKA.

I want to plan path and if planning is not good (may be I have start or target point in collision or something else) - receive error and replan according to this error.

There are a lot of errors:

 enum { SUCCESS = 1 };
 enum { FAILURE = 99999 };
 enum { PLANNING_FAILED = -1 };
 enum { INVALID_MOTION_PLAN = -2 };
 enum { MOTION_PLAN_INVALIDATED_BY_ENVIRONMENT_CHANGE = -3 };
 enum { CONTROL_FAILED = -4 };
 enum { UNABLE_TO_AQUIRE_SENSOR_DATA = -5 };
 enum { TIMED_OUT = -6 };
 enum { PREEMPTED = -7 };
 enum { START_STATE_IN_COLLISION = -10 };
 enum { START_STATE_VIOLATES_PATH_CONSTRAINTS = -11 };
 enum { GOAL_IN_COLLISION = -12 };
 enum { GOAL_VIOLATES_PATH_CONSTRAINTS = -13 };
 enum { GOAL_CONSTRAINTS_VIOLATED = -14 };
 enum { INVALID_GROUP_NAME = -15 };
 enum { INVALID_GOAL_CONSTRAINTS = -16 };
 enum { INVALID_ROBOT_STATE = -17 };
 enum { INVALID_LINK_NAME = -18 };
 enum { INVALID_OBJECT_NAME = -19 };
 enum { FRAME_TRANSFORM_FAILURE = -21 };
 enum { COLLISION_CHECKING_UNAVAILABLE = -22 };
 enum { ROBOT_STATE_STALE = -23 };
 enum { SENSOR_INFO_STALE = -24 };
 enum { NO_IK_SOLUTION = -31 };

But when I plan I always have in log_file only 1 or -1. I tried a lot of combinations but there are two variants - good or not.

...
MoveGroupPtr group;
...
moveit::planning_interface::MoveGroup::Plan my_plan;
moveit::planning_interface::MoveItErrorCode result;
result = group->plan(my_plan);
...
log_file << "result " << result.val << endl;

Can I use all codes of errors? Thank you for your attention!