Question

I was following this movegroup interface tutorial (http://docs.ros.org/hydro/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html) on my own 7DOF robot. It has successfully found a solution but the program is not continuing to the next line of code. (See code below, so it is not printing out "Visualizing ..." in terminal)

moveit::planning_interface::MoveGroup::Plan my_plan;
bool success = group.plan(my_plan); // stuck here
ROS_INFO("Visualizing plan 1 (pose goal) %s",success?"SUCCESSFUL":"FAILED");
sleep(5.0);

The last displayed lines are:

[ INFO] [1459836629.415696549]: Solution found in 0.395740 seconds
[ INFO] [1459835061.553672913]: SimpleSetup: Path simplification took 0.029544 seconds and changed from 3 to 2 states

Anyone has any idea why this is happening? (I can see in RViz that the planner definitely found the path, but it won't let me continue so I can publish it to "/movegroup/displayplanned_path"). Either something is blocking the process or is waiting for some messages.

Asked by johnyang on 2016-04-05 01:42:14 UTC

Answer 1

I found out where the problem is now after read this post: https://groups.google.com/forum/#!topic/moveit-users/s9b7IJuKRKY You have to have the spinner at the right place. I had it wrapped around in an if statement, so the actionlib is not actually working properly without the asyncspinner set properly.

ros::AsyncSpinner spinner(4);
spinner.start();

Asked by johnyang on 2016-04-07 18:03:34 UTC

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I was about to suggest that

Asked by blancoys on 2018-04-20 11:09:55 UTC

MoveIt! planning not continue after successful planning?

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