Problem with braccio arm motion planning using MoveIt

asked 2018-03-21 05:03:56 -0600

Nitin gravatar image

Hello,

I am trying to add motion planning support to the braccio arm using MoveIt. The model is properly loading in RViz. But not loading properly in gazebo. When I try to do motion planning using RViz GUI, it is working. The arm could able to move from one location to the other. But when I try to run motion planning through code (MotionPlanner.cpp), I am getting following errors.

[ INFO] [1521704583.674200046]: Loading robot model 'braccio'...
[ INFO] [1521704583.755619682]: Loading robot model 'braccio'...
[ INFO] [1521704584.736409543, 36.857000000]: Ready to take commands for planning group arm.
[ INFO] [1521704585.061241099, 37.183000000]: Ready to take commands for planning group gripper.
[ INFO] [1521704585.064859450, 37.186000000]: Loading robot model 'braccio'...
[ INFO] [1521704585.115357269, 37.234000000]: Loading robot model 'braccio'...
[ INFO] [1521704585.485366141, 37.604000000]: RemoteControl Ready.
[ WARN] [1521704595.799003801, 47.841000000]: Fail: ABORTED: No motion plan found. No execution attempted.
[ INFO] [1521704595.799067112, 47.841000000]: Visualizing plan to target: FAILED
[ INFO] [1521704595.799170369, 47.841000000]: No planning scene passed into moveit_visual_tools, creating one.

Please find the steps to reproduce the issue.

1. git clone https://github.com/NitinPJ/MotionPlanning.git
2. cd MotionPlanning
3. cd catkin_braccio
4. catkin_make
5. source devel/setup.bash
6. roslaunch braccio_arm launch.launch
7. rosrun braccio_arm MotionPlanner

Kindly help me to solve the above issue.

Platfrom: Ubuntu 16.04, ROS Kinetic

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Comments

Same error here. I am able to plan motion using MotionPlanning plugin on Rviz. When I do planning using code, it is failing with the same reasons stated above. Interestingly, it fails only if a pose is specified(even if valid), it is able to plan and move if we give joint angles.

dpakshimpo gravatar image dpakshimpo  ( 2018-03-21 05:10:41 -0600 )edit