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How to define position constraint msgs in moveit

asked 2017-12-23 15:19:18 -0600

ptriantd gravatar image

updated 2017-12-24 14:27:51 -0600

Hi everyone,

I am trying to define a position constraint msg in moveit, but I am getting the following error during planning:

Exception caught executing *next* adapter 'Fix Start State In Collision': Bounds for real vector space seem to be incorrect (lower bound must be stricly less than upper bound). Sampling will not be possible.

I am wondering whether I have done something wrong in the definition of the constraint, so let me ask a few things to clarify:

  1. The header of the constraint defines the frame in which the BoundedVolume pose is defined, right?
  2. The target_point_offset is the translation to the goal pose of the controlled link expressed in the current link frame, right?

If you have any other insight on this error, please tell me...

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Bump. I am also facing this question. Has there been any insight regarding it so far? :)

JunTuck gravatar image JunTuck  ( 2021-01-12 05:25:40 -0600 )edit

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answered 2018-10-23 00:27:04 -0600

itfanr gravatar image
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The documentation can help, certainly, but:

  • please link to the current version of it (ie: the one for Kinetic)
  • please expand your answer a little bit, so that if the docs every "vanish" your answer would still be informative
gvdhoorn gravatar image gvdhoorn  ( 2018-10-23 02:16:08 -0600 )edit

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Asked: 2017-12-23 15:19:18 -0600

Seen: 1,250 times

Last updated: Oct 23 '18