Pose goal is easier to fail than Joint goal

asked 2019-07-23 18:02:05 -0500

NormanYu gravatar image

updated 2019-07-23 18:50:31 -0500

I'm using ROS Kinetic with Ubuntu 16.04 I was trying to run a UR5 (6DOF robot arm) model with gripper in Rviz. I got 2 problems 1. when using a pose goal instead joint goal, it's much easier to fail or get into some complicated path planning which took way longer than joint goal to finish. Although both will end up at same location for end effector. I wonder if there's some configuration file I can play with in the moveit package generated by moveit_setup_assistant.

  1. When using RVIZ to drag the arm to a desired pose, and then do plan&execute, it will show several solution and a message like this: ParallelPlan::solve(): Solution found by one or more threads in 0.046674 seconds. However, when using the my code in python, there is no such a message.

I attached my code in the attachment. Here is the output of drag in RVIZ directly:

[ INFO] [1563920423.622299456, 214.804000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
 [ INFO] [1563920423.622413597, 214.804000000]: Planning attempt 1 of at most 1
 [ INFO] [1563920423.623414442, 214.805000000]: Planner configuration 'manipulator[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1563920423.624040259, 214.805000000]: manipulator[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1563920423.656865860, 214.833000000]: manipulator[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1563920423.660062326, 214.835000000]: manipulator[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1563920423.671390394, 214.846000000]: manipulator[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal)
[ INFO] [1563920423.675991732, 214.848000000]: manipulator[RRTConnectkConfigDefault]: Created 4 states (2 start + 2 goal)
[ INFO] [1563920423.697523406, 214.868000000]: manipulator[RRTConnectkConfigDefault]: Created 6 states (3 start + 3 goal)
[ INFO] [1563920423.702737269, 214.873000000]: manipulator[RRTConnectkConfigDefault]: Created 9 states (3 start + 6 goal)
[ INFO] [1563920423.703138043, 214.874000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.046674 seconds
[ INFO] [1563920423.791421658, 214.952000000]: SimpleSetup: Path simplification took 0.066072 seconds and changed from 3 to 2 states
[ INFO] [1563920426.701524712, 217.784000000]: Completed trajectory execution with status SUCCEEDED ...

However, this is the output if I execute my code:

[ INFO] [1563920286.661937495, 82.204000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1563920286.662151254, 82.204000000]: Planning attempt 1 of at most 1
[ INFO] [1563920286.663111198, 82.205000000]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1563920286.663499463, 82.205000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1563920286.709997590, 82.251000000]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1563920286.710046071, 82.251000000]: Solution found in 0.046770 seconds
[ INFO] [1563920286.762445162, 82.301000000]: SimpleSetup: Path simplification took 0.052233 seconds and changed from 3 to 2 states
[ INFO] [1563920289.678544228, 85.144000000]: Completed trajectory execution with status SUCCEEDED ...

I used the ... (more)

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