[MoveIt!] Can't plan to a pose goal
Hi,
I'm using a simple 4 DoF arm and want to use MoveIt! to calculate and execute trajectories for it. I followed the setup tutorial and the Move Group Python Interface Tutorial which allow me to give the pr2 a pose goal to which he then plans a trajectory.
However, when I'm using this approach on my own model it doesn't work. I tried various Cartesian coordinates as pose goal, some that he is definitively able to reach, but I always receive:
Fail: ABORTED: No motion plan found. No execution attempted.
and
RRTConnect: Unable to sample any valid states for goal tree
I even (unsuccessfully) tried to move to the current position using:
pose_target = group.get_current_pose()
group.set_pose_target(pose_target)
The second application from the tutorial of planning to a joint-space goal is working correctly.
The planning group I use contains all 4 joints of the arm nothing else (I also tried a group containing all joints and links). I also added an end-effector in the setup, but it didn't help.
This problem is annoying me for some time already, every hint or solution is welcomed :)
Seeing as joint space targets work, but Cartesian ones don't: what kind of IK plugin are you using? KDL? That is known to not work that well with < 6 DoF. See if 'enable position only IK' works for you. Other options: try trac_ik or IKFast.
I was using KDL. I now tested it with tracik, but it is not working any better. However, I noticed that occasionally the ik solver does find a path, but only very rarely and without any pattern.