Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

plan was found but it seems to be invalid possibly due to postprocessing

asked 2016-11-03 23:25:21 -0500

clark_txh
51 ●9 ●14 ●13

updated 2016-11-04 02:45:53 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

when I plan trajectory, the move_group print the message follow

[ WARN] [1478232670.643146875]: Fail: ABORTED: Motion plan was found but it seems to be invalid (possibly due to postprocessing). Not executing.

I get a solution ,I change the file about ompl_planning.yaml. It is like that

longest_valid_segment_fraction: 0.02 #0.05

Get better, but not completely resolved

I want to know what's about this and how to resolve it completely.

thank advance.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2016-11-04 07:35:29 -0500

rbbg
1823 ●6 ●18 ●26

The longest_valid_segment_fraction determines the density that your selected planner uses to confirm that the found path is collision free. Perhaps the setting if 0.02 is still a bit high in your case, so I would advise you to lower it even further.

Also, from my experience, some planners seem to suffer from these problems than others, so it might be worthwhile to experiment with other planners as well.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2016-11-03 23:25:21 -0500

Seen: 1,005 times

Last updated: Nov 04 '16

plan was found but it seems to be invalid possibly due to postprocessing edit

1 Answer

Question Tools

Stats

Related questions

plan was found but it seems to be invalid possibly due to postprocessing