No motion plan for iiwa arm found

edit

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