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Yes, this is a problem which is hard to debug, because function MoveGroup::plan() return either success or fail(besides having all those nice error messages like not valid pose, etc. - they are not used). Maybe your pose is not valid. this can be URDF restrictions. What you should do. Make an array of points with radius R around your robot. Run your planning for each of them. Save successful end poses and visualize them - you will see restrictions of the robot. Also, your rviz says that it does not have transformation from your robot to the world. So make sure you have static transformation publisher for these frame ids execute from command line: static_transform_publisher 0 0 0 0 0 0 world YOUR_ROBOT_BASE_LINK 10

Yes, this is a problem which is hard to debug, because function MoveGroup::plan() return returns either success or fail(besides having all those nice error messages like not valid pose, etc. - they are not used). Maybe your pose is not valid. this can be URDF restrictions. What you should do. Make an array of points with radius R around your robot. Run your planning for each of them. Save successful end poses and visualize them - you will see restrictions of the robot. Also, your rviz says that it does not have transformation from your robot to the world. So make sure you have static transformation publisher for these frame ids execute from command line: static_transform_publisher 0 0 0 0 0 0 world YOUR_ROBOT_BASE_LINK 10

Yes, this is a problem which is hard to debug, because function MoveGroup::plan() returns either success or fail(besides having all those nice error messages like not valid pose, etc. - they are not used). Maybe your pose is not valid. this can be an URDF restrictions. restriction. What you should do. Make an array of points with radius R around your robot. Run your planning for each of them. Save successful end poses and visualize them - you will see restrictions of the robot. Also, your rviz says that it does not have transformation from your robot to the world. So make sure you have static transformation publisher for these frame ids execute from command line: static_transform_publisher 0 0 0 0 0 0 world YOUR_ROBOT_BASE_LINK 10

Yes, this is a problem which is hard to debug, because function MoveGroup::plan() returns either success or fail(besides having all those nice error messages like not valid pose, etc. - they are not used). Maybe your pose is not valid. this can be an URDF restriction. What you should do. Make an array of points with radius 0 to R around your robot. Run your planning for each of them. Save successful end poses and visualize them - you will see restrictions of the robot. Also, your rviz says that it does not have transformation from your robot to the world. So make sure you have static transformation publisher for these frame ids execute from command line: static_transform_publisher 0 0 0 0 0 0 world YOUR_ROBOT_BASE_LINK 10

Yes, this is a problem which is hard to debug, because function MoveGroup::plan() returns either success or fail(besides having all those nice error messages like not valid pose, etc. - they are not used). Maybe your pose is not valid. this can be an URDF restriction. What you should do. Make an array of points with radius 0 to R around your robot. Run your planning for each of them. Save successful end poses and visualize them - you will see restrictions of the robot. Also, your rviz says that it does not have transformation from your robot to the world. So make sure you have static transformation publisher for these frame ids execute from command line: static_transform_publisher 0 0 0 0 0 0 world YOUR_ROBOT_BASE_LINK 10

Yes, this is a problem which is hard to debug, because function MoveGroup::plan() returns either success or fail(besides having all those nice error messages like not valid pose, etc. - they are not used). Maybe your pose is not valid. this can be an URDF restriction. What you should do. Make an array of points with radius 0 to R around your robot. Run your planning for each of them. Save successful end poses and visualize them - you will see restrictions of the robot. robot. Also, your rviz says that it does not have transformation from your robot to the world. So make sure you have static transformation publisher for these frame ids execute from command line: static_transform_publisher 0 0 0 0 0 0 world YOUR_ROBOT_BASE_LINK 10

Yes, this is a problem which is hard to debug, because function MoveGroup::plan() returns either success or fail(besides having all those nice error messages like not valid pose, etc. - they are not used). Maybe your pose is not valid. this can be an URDF restriction. What you should do. Make an array of points with radius 0 to R around your robot. Run your planning for each of them. Save successful end poses and visualize them - you will see restrictions of the robot. Also, your rviz says that it does not have transformation from your robot to the world. So make sure you have static transformation publisher for these frame ids execute ids.

Execute from command line: static_transform_publisher 0 0 0 0 0 0 world YOUR_ROBOT_BASE_LINK 10

Yes, this is a problem which is hard to debug, because function MoveGroup::plan() returns either success or fail(besides having all those nice error messages like not valid pose, etc. - they are not used).