No motion plan for iiwa arm found

asked 2018-02-02 04:24:10 -0600

michaeltesar gravatar image

Hi,

I am trying to control KUKA iiwa7 arm with MoveIt!. I use Python tool moveit_commander to do the job.

I have found that iiwa remaps all topic for robot_description, robot_description_semantic, move_group etc. to /iiwa/ namespace, so all of the topic are available at /iiwa/move_group etc.

When I run the sample script based on this tutorial http://docs.ros.org/indigo/api/moveit... with proper group name it woks. Same is whenI run the tool in separate launchfile which somes for demo purposes movit_commander_cmd.py.

I started to write my own script and initialization is OK, but when i try to plan a movement I get this error:

[ INFO] [1517566521.148654816, 353.165000000]: ABORTED: No motion plan found. No execution attempted.

When I take a look at topic it is all there:

/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/iiwa/PositionJointInterface_trajectory_controller/command
/iiwa/PositionJointInterface_trajectory_controller/follow_joint_trajectory/cancel
/iiwa/PositionJointInterface_trajectory_controller/follow_joint_trajectory/feedback
/iiwa/PositionJointInterface_trajectory_controller/follow_joint_trajectory/goal
/iiwa/PositionJointInterface_trajectory_controller/follow_joint_trajectory/result
/iiwa/PositionJointInterface_trajectory_controller/follow_joint_trajectory/status
/iiwa/PositionJointInterface_trajectory_controller/state
/iiwa/attached_collision_object
/iiwa/collision_object
/iiwa/execute_trajectory/cancel
/iiwa/execute_trajectory/feedback
/iiwa/execute_trajectory/goal
/iiwa/execute_trajectory/result
/iiwa/execute_trajectory/status
/iiwa/joint_states
/iiwa/move_group/cancel
/iiwa/move_group/display_contacts
/iiwa/move_group/display_planned_path
/iiwa/move_group/feedback
/iiwa/move_group/goal
/iiwa/move_group/monitored_planning_scene
/iiwa/move_group/ompl/parameter_descriptions
/iiwa/move_group/ompl/parameter_updates
/iiwa/move_group/plan_execution/parameter_descriptions
/iiwa/move_group/plan_execution/parameter_updates
/iiwa/move_group/planning_scene_monitor/parameter_descriptions
/iiwa/move_group/planning_scene_monitor/parameter_updates
/iiwa/move_group/result
/iiwa/move_group/sense_for_plan/parameter_descriptions
/iiwa/move_group/sense_for_plan/parameter_updates
/iiwa/move_group/status
/iiwa/move_group/trajectory_execution/parameter_descriptions
/iiwa/move_group/trajectory_execution/parameter_updates
/iiwa/pickup/cancel
/iiwa/pickup/feedback
/iiwa/pickup/goal
/iiwa/pickup/result
/iiwa/pickup/status
/iiwa/place/cancel
/iiwa/place/feedback
/iiwa/place/goal
/iiwa/place/result
/iiwa/place/status
/iiwa/planning_scene
/iiwa/planning_scene_world
/iiwa/recognized_object_array
/iiwa/rviz_MS_7788_3225_8859176999747549805/motionplanning_planning_scene_monitor/parameter_descriptions
/iiwa/rviz_MS_7788_3225_8859176999747549805/motionplanning_planning_scene_monitor/parameter_updates
/iiwa/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/iiwa/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/iiwa/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/iiwa/trajectory_execution_event
/rosout
/rosout_agg
/tf
/tf_static

In my launchfile where I start my Pyton script I use parameter ns="iiwa" but it does not work.

Am I missing? Here is my Python source https://drive.google.com/open?id=1zbw...

Thank you, Michael

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Comments

The link is broken. It would be more helpful if you copied the part of the code where you formulate the motion planning request. Have you tried setting the logger level to debug? That might help already. The move group node errors should tell you more than just "Aborted".

fvd gravatar image fvd  ( 2018-09-04 09:43:18 -0600 )edit

Hi, I was wondering if you ever got a fix for this issue. I am currently facing the exact same problem, so I hop that you have found the answer :) Thanks in advance

NFP gravatar image NFP  ( 2020-01-21 08:21:56 -0600 )edit

I am also looking for a fix. Please let me know if you are able to resolve this issue.

ryanc gravatar image ryanc  ( 2020-01-22 18:57:05 -0600 )edit

@ryanc@NFP Please post a thread describing your problem in more detail and link it here.

fvd gravatar image fvd  ( 2020-02-29 03:59:39 -0600 )edit