Moveit:Pick and place error

asked 2019-02-20 01:27:13 -0500

zichenxiaoxu gravatar image

updated 2019-02-20 01:30:17 -0500

Hi,I'm quite new about moveit, I have finished the Pick and place tutorials, and now I want to control an ABB IRB120 robot arm and make it can pick and place a pipeline. I have generated a moveit package by the moveit_setup_assistant, and make a little change to the pick and place tutorial's code to control the ABBIRB120 robot arm, but some errors occurred. Hope someone can help me. Here is my error. This is the error in the terminal which runs the terminal command "rosrun selfirb120_control abbselftest" which is the node to control robot arm.

ros.moveit_ros_planning_interface.move_group_interface: Fail: ABORTED: No motion plan found. No execution attempted.

ros.moveit_ros_planning_interface.move_group_interface: Fail: ABORTED: Must specify group in motion plan request

And this is the error in the terminal which runs the terminal command "roslaunch selfabb2 demo.launch" . ![image description]image description Hope someone can help me! Thank you very much

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Comments

It seems you did not specify any group while initializing moveit, try to check that you are using the same group name that you used while generating the config pkg by moveit_setup_assistan:

moveit::planning_interface::MoveGroupInterface group("group_name")
mali gravatar imagemali ( 2019-02-20 03:19:01 -0500 )edit

You mean the group name must be same as the group name I initialize in the move it set up assistant?

zichenxiaoxu gravatar imagezichenxiaoxu ( 2019-02-20 03:28:24 -0500 )edit

But I do use the same group name.

zichenxiaoxu gravatar imagezichenxiaoxu ( 2019-02-20 03:28:49 -0500 )edit

yes, I mean the group name you initialize in the moveit set up assistant. I am not sure what is wrong but that what I understood from the error message

ros.moveit_ros_planning_interface.move_group_interface: Fail: ABORTED: Must specify group in motion plan request
mali gravatar imagemali ( 2019-02-20 03:41:29 -0500 )edit

I have checked about it, they are both "arm".

zichenxiaoxu gravatar imagezichenxiaoxu ( 2019-02-20 03:44:14 -0500 )edit

it might be helpful to compare the config and launch files generated by movit set assistance with the one from tutorial.

mali gravatar imagemali ( 2019-02-20 03:44:48 -0500 )edit