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I also had this issue with going to a pose goal (following the Tutorial for using the Python moveit commander) and always received "ABORTED: No motion plan found. "

What solved this issue for me was replacing pose_goal = geometry_msgs.msg.Pose() by pose_goal = geometry_msgs.msg.PoseStamped() (and copying the header frame from the current pose) like this (note the additional "pose" in the variable name when setting values as PoseStamped consists of Pose and Header):

def go_to_pose_goal(self):
    print("Starting planning to go to pose goal.\n")
    pose_goal = geometry_msgs.msg.PoseStamped()
    pose_goal.header = actual_pose.header.seq
    pose_goal.header.stamp = actual_pose.header.stamp
    pose_goal.header.frame_id = ref_frame 
    pose_goal.pose.orientation.w = 0.9
    pose_goal.pose.orientation.x = 0.155
    pose_goal.pose.orientation.y = 0.127
    pose_goal.pose.orientation.z = 0.05
    pose_goal.pose.position.x = -0.1
    pose_goal.pose.position.y = -0.518
    pose_goal.pose.position.z = 1.655

Hope this helps someone, even though this might come too late for you now.

Cheers