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Thanks Sachin, changing ompl_planning_configs.yaml helped.
I now get some new errors. I am using the SimpleActionClient to call the motion planner and execute the trajectory. It looks like the motion planning succeeded but something else failed.
[ INFO] [1299548741.952947568, 108.201000000]: Received request for planning
[ INFO] [1299548741.953422419, 108.201000000]: Selected motion planner: 'kinematic::LBKPIECE[LBKPIECEkConfig2r]', with priority 11
[ INFO] [1299548741.953639205, 108.201000000]: ompl planning for group right_arm_planar
[ERROR] [1299548741.957239764, 108.201000000]: Joint 'r_shoulder_lift_joint' is not part of group 'right_arm_planar'
[ERROR] [1299548741.957334176, 108.201000000]: Joint 'r_upper_arm_roll_joint' is not part of group 'right_arm_planar'
[ERROR] [1299548741.957376039, 108.201000000]: Joint 'r_forearm_roll_joint' is not part of group 'right_arm_planar'
[ERROR] [1299548741.957415029, 108.201000000]: Joint 'r_wrist_roll_joint' is not part of group 'right_arm_planar'
Info: LBKPIECE1: Starting with 2 states
Info: LBKPIECE1: Created 42 (22 start + 20 goal) states in 34 cells (18 start + 16 goal)
[ INFO] [1299548742.101694222, 108.235000000]: Motion planning succeeded
[ WARN] [1299548742.109843014, 108.237000000]: State violates goal constraints.
[ERROR] [1299548742.110338786, 108.238000000]: Returned path from planner does not go all the way to goal
Is ompl_ros_interface something that works with diamondback?
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