ABORTED: No motion plan found. No execution attempted
I am in kinetic .The model is yumi.link text My robotic arm is a yumi7 DOF dual-arm robot. I fixed his 6 and 7 joints into 5 degrees of freedom. I modified the urdf file and the srdf file. I modified the group to make link6 its end executor. I can use setjointvaluetarget function, but I can't use setposetarget function. This error will occur " Fail: ABORTED: No motion plan found. No execution attempted" . The ball inside rviz can't be dragged either.
Asked by ryanzyc on 2019-06-12 03:47:29 UTC
Comments
By changing the robot to 5 DOF from 7 DOF it is no longer holonomic, so only a limited set of all possible 6 DOF end effector posses will be reachable. This is also the reason why you can't move the control ball in RVIZ, if it can't find a kinematic solution then it cannot move.
Asked by PeteBlackerThe3rd on 2019-06-12 06:04:49 UTC
Why do I record the position that can be reached with forward kinematics, then solve the angle with inverse kinematics, and then it still can't move, I want to use link6 as the end executor, and use setposetarget function to locate its position, what can I do?
Asked by ryanzyc on 2019-06-12 06:22:11 UTC
Pete's answer is correct. I don't understand the rest of the problem. Please be more specific.
Asked by fvd on 2020-03-03 08:40:37 UTC