Question

I am using movegroup python interface tutorial

Environment: Ubuntu 14.04, ROS-Indigo, ROBOT=cob3-2 I have launch cob_moveit_config demo.launch and then I am running my script from tutorial

in roslaunch terminal:

[ERROR] [1499552380.757625050, 2342.705000000]: Found empty JointState message

and rosrun script terminal

[ WARN] [1499552300.994274241, 2331.218000000]: Fail: ABORTED: No motion plan found. No execution attempted.
============ Visualizing plan1
============ Waiting while plan1 is visualized (again)...
[ INFO] [1499552385.969168174, 2343.344000000]: ABORTED: No motion plan found. No execution attempted.

What am I missing? Any help?

Thanks in Advance Shaon Debnath

Asked by Shaon Debnath on 2017-07-08 17:28:37 UTC

Answer 1

PROBLEM SOLVED

Actually, The target value from the tutorial

pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.7
pose_target.position.y = -0.05
pose_target.position.z = 1.1
group.set_pose_target(pose_target)

was not reachable for COB 3 from its current position, SO when I tried with little change in position as bellow. It got the plan and works

    oldPose = group.get_current_pose().pose
    print "OLD POSE: ", oldPose

    ##shaon end
    print "============ Generating plan 1"
    pose_target = geometry_msgs.msg.Pose()
    pose_target.orientation = oldPose.orientation
    pose_target.position.x = oldPose.position.x
    pose_target.position.y = oldPose.position.y + 0.04 
    pose_target.position.z = oldPose.position.z 
    group.set_pose_target(pose_target)

Thanks

Shaon

Asked by Shaon Debnath on 2017-07-12 11:39:46 UTC

moveit group: error: No plan found for cob3

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