CHOMP can only support joint-space goals

asked 2019-02-20 14:46:18 -0500

DieterWuytens gravatar image

I'm currently working in my robot environment with CHOMP planner. Related to this problem i also get next error:

[ INFO] [1550694858.830375540]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ERROR] [1550694858.846278197]: Only joint-space goals are supported
[ INFO] [1550694858.847631594]: Execution request received
[ INFO] [1550694859.230634123]: Completed trajectory execution with status SUCCEEDED ...

Python file for execution is the following:

    pose_goal = geometry_msgs.msg.Pose()
    pose_goal.orientation.x = 0.0
    pose_goal.orientation.y = 0.906702180222

    pose_goal.orientation.z =  0.0
    pose_goal.orientation.w = 0.42177145041
    pose_goal.position.x = 1.0
    pose_goal.position.y = 1.0
    pose_goal.position.z = 0.5

    group.set_pose_target(pose_goal)

    # plan to goal
    plan = group.plan()
    # execute plan
    group.execute(plan)

    group.stop()
    group.clear_pose_targets()

With OMPL and even STOMP everything working just fine. (are in the same package, just another launch file) Any advice is welcome, thanks.

edit retag flag offensive close merge delete

Comments

I also have the same problem here... any help would be appreciated.

caioviturino gravatar imagecaioviturino ( 2019-07-02 17:04:17 -0500 )edit