MoveIt, ultraArm P340: planning to specific position not working

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I purchased a robot arm (ultraArm P340) but I can not get the motion planning to work for a target position or pose when using a ROS node to make a motion planning request. They provide ROS packages for most of their robots on a github repo : https://github.com/elephantrobotics/m... They provide detailed installations instructions for ROS and moveit that I followed : https://docs.elephantrobotics.com/doc...

I had never used ROS before this project, but after 2 weeks learning about it and trying to get it to work, I think that I have a good understanding of what is going on.

Most functionality are working :

• motion planning in Rviz using roslaunch ultraarm_moveit demo.launch
• Using the moveit_commander python library for : motion planning to a named target or motion planning a set a joint angles

But trying to get motion planning using moveit_commander to a target pose or position always produces the exact same error :

moveit_commander node :

[ INFO] [1681738300.806735145]: Loading robot model 'firefighter'...
[ INFO] [1681738302.128773583]: Ready to take commands for planning group arm_group.
[ WARN] [1681738310.053679700]: Fail: ABORTED: TIMED_OUT

Code :

I based my code on this example : https://github.com/ros-planning/movei... I also tried the script rosrun ultraarm_moveit path_planning_and_obstacle_avoidance_demo.py that they provide, but it seems to be broken in multiple ways.

Some parts are working fine :

• move_group.go(joint_goal, wait=True)
• move_group.set_named_target("init_pose")

But other refuse to work, despite the many different pose and position goal I tried (including going to the current position). Target position :

move_group.set_position_target([0.03, 0, 0.3]) #Very close to the current home position
success = move_group.go(wait=True)

Target pose :

current_pose = move_group.get_current_pose()
move_group.set_pose_target(current_pose)
success = move_group.go(wait=True)

(Creating a pose and specifying a position like in the base example did not work any better.)

ultraArm_moveit.launch :

[ INFO] [1681741002.222114463]: Ready to take commands for planning group arm_group.
[ INFO] [1681741013.471013449]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1681741013.471172510]: Planning attempt 1 of at most 1
[ INFO] [1681741013.475019385]: Planner configuration 'arm_group' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1681741013.475940740]: arm_group/arm_group: Starting planning with 1 states already in datastructure
[ERROR] [1681741018.478799338]: arm_group/arm_group: Unable to sample any valid states for goal tree
[ INFO] [1681741018.479120936]: arm_group/arm_group: Created 1 states (1 start + 0 goal)
[ INFO] [1681741018.479382594]: No solution found after 5.003575 seconds
[ WARN] [1681741018.479508336]: Timed out
[ INFO] [1681741018.491237496]: Unable to solve the planning problem

Config :

ROS : noetic (latest version using binary install) Moveit : ros-noetic-moveit (1.1.11-1focal.20230413.061933) (latest version using binary install) OS : 20.04.6 LTS (Focal Fossa) (Virtual box fresh install)

I have been trying for a long time to get this to work, and I have tried pretty much everything I could find, but I always get this exact error.

I also attempted to use the code they provide for ROS2 ... (more)