ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

MotionPlanning in Moveit only partly works?

asked 2015-03-30 07:45:19 -0600

Sietse gravatar image
Hello List,

Using Indigo I created a setup with moveit setup assistent and an urdf for our crustcrawler arm. The urdf is adapted from the smart_arm_robot.xacro from ua-ros-pkg. The urdf works fine using rviz and joint_state_publisher.

But with Planning Request in Moveit/Rviz the eef-joint (wrist_roll_joint) gets DETACHED from the rest of the arm. Normally the rest of the arm should follow, but it does NOT move while the (moved) eff-joint immediatly turns red.

The moveit-command however DOES work. I can see the moves in Rviz when I give e.g. "go rand". Also the pr2 example does work perfectly. You can find my setup in

I only used the setup wizard and used an urdf I am fairly confidant about. Why does the planning in MotionPlanning not work ?

Thanks in advance, Sietse

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2015-04-01 04:01:57 -0600

Sietse gravatar image

To answer my own question: I had to flag "Allow Approximate IK Solutions" to get it to work.

I don't know why this is needed (of how I could have known this), but for the moment it works for me.

edit flag offensive delete link more



That option is almost always needed to work around the fact that your manipulator has < 6dofs, and the MoveIt interactive markers control a 6D Pose. The IK plugin used (probably KDL) cannot solve for a 6D pose with less than 6dof in your robot, hence the need to allow approximate solutions.

gvdhoorn gravatar image gvdhoorn  ( 2015-04-01 07:01:56 -0600 )edit

OK, clear. Thanks!

Sietse gravatar image Sietse  ( 2015-04-01 09:00:54 -0600 )edit

Question Tools

1 follower


Asked: 2015-03-30 07:45:19 -0600

Seen: 304 times

Last updated: Apr 01 '15