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CHOMP start state is empty

asked 2019-02-19 14:34:45 -0500

DieterWuytens gravatar image

I execute the following, which starts the CHOMP planning:

roslaunch coco_moveit_chomp_config demo.launch

RVIZ starts up and my robot is ready for planning with CHOMP. With this link I made the following program in python:

#!/usr/bin/env python

import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
import math
import os
from time import sleep
from std_msgs.msg import String
from moveit_commander.conversions import pose_to_list
from moveit_commander import MoveGroupCommandInterpreter, MoveGroupInfoLevel, roscpp_initialize, roscpp_shutdown

def stop_ros(reason):
        rospy.signal_shutdown(reason)
        roscpp_shutdown()

if __name__=='__main__':

    moveit_commander.roscpp_initialize(sys.argv)
    rospy.init_node('move_group_python_interface_tutorial',
                anonymous=True)

    robot = moveit_commander.RobotCommander()
    scene = moveit_commander.PlanningSceneInterface()

    group_name = "endeffector"
    group = moveit_commander.MoveGroupCommander(group_name)

    display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path',
                                               moveit_msgs.msg.DisplayTrajectory,
                                               queue_size=20)

    pose_goal = geometry_msgs.msg.Pose()
    pose_goal.orientation.x = 0.0
    pose_goal.orientation.y = 0.0
    pose_goal.orientation.z = 0.707106781185
    pose_goal.orientation.w = 0.707106781188
    pose_goal.position.x = 0.0382000000033
    pose_goal.position.y = 0.9115
    pose_goal.position.z = 0.6165

    group.set_pose_target(pose_goal)
    sleep(2)
    plan = group.go(wait=True)
    group.stop()
    group.clear_pose_targets()

    sleep(3)

    pose_goal = geometry_msgs.msg.Pose()
    pose_goal.orientation.x = 0.0
    pose_goal.orientation.y = 0.0
    pose_goal.orientation.z = 0.707106781185
    pose_goal.orientation.w = 0.707106781188
    pose_goal.position.x = 0.0382000000033
    pose_goal.position.y = 0.9115
    pose_goal.position.z = 0.1165

    group.set_pose_target(pose_goal)
    sleep(2)
    plan = group.go(wait=True)
    group.stop()
    group.clear_pose_targets()

    stop_ros("Done")

I made sure that these values are in bounds, and are reachable for the robot. Next error is received: when executing the code:

[ INFO] [1550606514.026740098]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1550606514.145300279]: Planning attempt 1 of at most 1
[ERROR] [1550606514.160386687]: Start state is empty
[ INFO] [1550606514.161594263]: Received event 'stop'

For some reason the start state is empty.. Any suggestions? Installation for CHOMP etc. was done with this tutorial.

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answered 2019-07-02 16:56:52 -0500

caioviturino gravatar image

I recommend you to follow this tutorial. Installing MoveIt! from source solved my problem.

Specifically, this commit solves the problem.

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Asked: 2019-02-19 14:34:45 -0500

Seen: 117 times

Last updated: Feb 19