MoveIt! pick and place problem - "The trajectory to execute is empty" - "Initialization failed" [closed]

asked 2015-07-24 07:24:47 -0600

Gengoz gravatar image

updated 2015-07-24 07:26:19 -0600

Hello,

I am trying to get a simple pick and place program to work. I modified this file to work with my MoveIt! package. The resulting code is shown below. When I try to run this code I get the following error:

Error message

It seems the planning goes well, but the moment the plan is executed this error appears. Also, when I simulate in RVIZ the 'planning model' of the robot seems to be moving without any problems. The 'real robot model' though, is not moving whatsoever. Which seems to correspond pretty well with the error message.

I've been stuck on this error for almost the entire day and have no clue where it comes from. Does anyone have an idea on what could be the problem?

Thank you for your help!

The code:

/*********************************************************************
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/* Author: Ioan Sucan */

#include <ros/ros.h>

// MoveIt!
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/move_group_interface/move_group.h>
#include <shape_tools/solid_primitive_dims.h>
//#include <manipulation_msgs/Grasp.h>

static const std::string ROBOT_DESCRIPTION="robot_description";

void pick(moveit::planning_interface::MoveGroup &group)
{
  std::vector<moveit_msgs::Grasp> grasps;

  geometry_msgs::PoseStamped p;
  p.header.frame_id = "base_link";
  p.pose.position.x = 0.5;
  p.pose.position.y = -0.7;
  p.pose.position.z = 0.5;
  p.pose.orientation.x = 0;
  p.pose.orientation.y = 0;
  p.pose.orientation.z = 0;
  p.pose.orientation.w = 1;
  moveit_msgs::Grasp g;
  g.grasp_pose = p;

  g.pre_grasp_approach.direction.vector.x = 1.0;
  g.pre_grasp_approach.direction.header = p.header;
  g.pre_grasp_approach.min_distance  = 0.1;
  g.pre_grasp_approach.desired_distance = 0.2;

  g.post_grasp_retreat.direction.header = p.header;
  g.post_grasp_retreat.direction.vector.z = 1.0;
  g.post_grasp_retreat.min_distance = 0.1;
  g.post_grasp_retreat.desired_distance ...
(more)
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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-04-15 10:30:26.776884

Comments

Hi, I wonder if you have found the solution to this problem... I have the same

Davide Faconti gravatar imageDavide Faconti ( 2016-11-30 03:35:35 -0600 )edit

I'm sorry to say that it has been a very long time since I last worked on this project. I think I solved it in the end but I wouldn't know how I did it back then. I'm afraid I also don't have time to dive back into the project to see how I did it. Sorry, I hope you will be able to figure it out.

Gengoz gravatar imageGengoz ( 2016-11-30 12:48:53 -0600 )edit

Hi i am working on ABB IRB 4600 .. I am getting the same error as you got .Please any clue how to figure out this problem .. Thanks !

Muneeb gravatar imageMuneeb ( 2017-04-26 08:30:05 -0600 )edit