How I can read error "No solution found" in my code

asked 2018-12-17 11:19:07 -0600

Rachel gravatar image

updated 2018-12-17 13:54:29 -0600

gvdhoorn gravatar image

Hi, everyone, I am trying to use franka panda to track the face. So every second it will get new position. But some time it's not enough time to plan the path. So I will got error

RRTConnect: Unable to sample any valid states for goal tree
RRTConnect: Created 1 states (1 start + 0 goal)
No solution found after 3.008875 seconds
Unable to solve the planning problem

So my plan is that reading this error and move a little bit. But I don't know how to read error in my code. I just can see it in my terminal. Thank you at first Rachel

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You might want to look at #240723, esp. MoveGroup::setPlanningTime, but also maybe at realtime tracking like here.

aPonza gravatar image aPonza  ( 2018-12-18 02:12:15 -0600 )edit

What is the difference between using libfranka and franka_ros?

Rachel gravatar image Rachel  ( 2018-12-18 03:02:06 -0600 )edit

It really depends on what you need to do but franka_ros provides an implementation of libfranka in the ROS environment so that it's usable with topics, services and actions, as far as I understand it. More here, as you probably know.

aPonza gravatar image aPonza  ( 2018-12-18 03:38:37 -0600 )edit