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


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


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

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

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

Hello, I know this is old but did you figure it out ? I have a similar issue... Thanks

edote gravatar image edote  ( 2020-03-11 10:44:43 -0500 )edit