ABORTED: No motion plan found. No execution attempted

asked 2019-06-12 03:47:29 -0500

ryanzyc gravatar image

I am in kinetic .The model is yumi.link text My robotic arm is a yumi7 DOF dual-arm robot. I fixed his 6 and 7 joints into 5 degrees of freedom. I modified the urdf file and the srdf file. I modified the group to make link6 its end executor. I can use setjointvaluetarget function, but I can't use setposetarget function. This error will occur " Fail: ABORTED: No motion plan found. No execution attempted" . The ball inside rviz can't be dragged either.

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By changing the robot to 5 DOF from 7 DOF it is no longer holonomic, so only a limited set of all possible 6 DOF end effector posses will be reachable. This is also the reason why you can't move the control ball in RVIZ, if it can't find a kinematic solution then it cannot move.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-06-12 06:04:49 -0500 )edit

Why do I record the position that can be reached with forward kinematics, then solve the angle with inverse kinematics, and then it still can't move, I want to use link6 as the end executor, and use setposetarget function to locate its position, what can I do?

ryanzyc gravatar image ryanzyc  ( 2019-06-12 06:22:11 -0500 )edit

Pete's answer is correct. I don't understand the rest of the problem. Please be more specific.

fvd gravatar image fvd  ( 2020-03-03 07:40:37 -0500 )edit