error of ompl+chomp and ompl+stomp

edit

Hi all, I am using ros kinetic and try to implement ompl+chomp or ompl+stomp to plan a trajectory.

For the ompl+chomp, I always get an error "start state violates joint limits";

For the ompl+stomp, it works if I plan within rviz using the motion plan plugin. But if I use my c++ code with movegroupinterface to plan a motion, stomp always reported: "start state is in discrepancy with the seed trajectory". It seems stomp always plans from the most initial state of the robot, rather than the current state.

Thanks for any help!