Moveit error "Fail: ABORTED: No motion plan found. No execution attempted."
I am running a node for inverse kinematics for Moveit but I am getting an error as follows Fail: ABORTED: No motion plan found. No execution attempted. Could you tell me how I can fix this issue?
import rospy, sys
import moveit_commander
from control_msgs.msg import GripperCommand
from moveit_msgs.msg import RobotTrajectory
from trajectory_msgs.msg import JointTrajectoryPoint
from geometry_msgs.msg import PoseStamped, Pose
from tf.transformations import euler_from_quaternion, quaternion_from_euler
GROUP_NAME_ARM = 'arm'
#GROUP_NAME_GRIPPER = 'gripper'
#GRIPPER_OPEN = [-0.2, 0, 0]
#GRIPPER_CLOSED = [1.25, 0, 0]
#GRIPPER_NEUTRAL = [0.0, 0, 0]
REFERENCE_FRAME = '/link1'
class MoveItIKDemo:
def __init__(self):
# Initialize the move_group API and node
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('moveit_ik_demo', anonymous=True)
# Use the groups of arm and gripper
arm = moveit_commander.MoveGroupCommander(GROUP_NAME_ARM)
# gripper = moveit_commander.MoveGroupCommander(GROUP_NAME_GRIPPER)
end_effector_link = arm.get_end_effector_link()
# Set a goal joint tolerance
arm.set_goal_joint_tolerance(0.04)
# gripper.set_goal_joint_tolerance(0.1)
# Set the option related IK solution
arm.allow_replanning(True)
# Use the joint positions with FK
joint_positions = [0.0, 0.0, 0.0, 0.0]
arm.set_joint_value_target(joint_positions)
arm.go()
rospy.sleep(5)
# gripper.set_joint_value_target(GRIPPER_OPEN)
# gripper.go()
# rospy.sleep(5)
# Use the joint pose with IK
# 1. Set the target pose for IK
# 2. Plan a trajectory
# 3. Execute the planned trajectory
# Move the arm to left side
target_pose = PoseStamped()
target_pose.header.frame_id = REFERENCE_FRAME
target_pose.header.stamp = rospy.Time.now()
target_pose.pose.position.x = 0.0
target_pose.pose.position.y = 0.194
target_pose.pose.position.z = 0.147
target_pose.pose.orientation.x = 0.0
target_pose.pose.orientation.y = 0.0
target_pose.pose.orientation.z = 0.707
target_pose.pose.orientation.w = 0.707
arm.set_start_state_to_current_state()
arm.set_pose_target(target_pose, end_effector_link)
traj = arm.plan()
arm.execute(traj)
rospy.sleep(5)
# Grasp
# gripper.set_joint_value_target(GRIPPER_CLOSED)
# gripper.go()
# rospy.sleep(5)
# Move the arm to right side
target_pose.header.stamp = rospy.Time.now()
target_pose.pose.position.x = 0.0
target_pose.pose.position.y = -0.194
target_pose.pose.position.z = 0.147
target_pose.pose.orientation.x = 0.0
target_pose.pose.orientation.y = 0.0
target_pose.pose.orientation.z = -0.707
target_pose.pose.orientation.w = 0.707
arm.set_start_state_to_current_state()
arm.set_pose_target(target_pose, end_effector_link)
traj = arm.plan()
arm.execute(traj)
rospy.sleep(5)
# Place
# gripper.set_joint_value_target(GRIPPER_OPEN)
# gripper.go()
# rospy.sleep(5)
# Move the arm to center
target_pose.header.stamp = rospy.Time.now()
target_pose.pose.position.x = 0.0
target_pose.pose.position.y = 0.0
target_pose.pose.position.z = 0.341
target_pose.pose.orientation.x = 0.0
target_pose.pose.orientation.y = -0.706
target_pose.pose.orientation.z = 0.0
target_pose.pose.orientation.w = 0.707
arm.set_start_state_to_current_state()
arm.set_pose_target(target_pose, end_effector_link)
traj = arm.plan()
arm.execute(traj)
rospy.sleep(5)
# gripper.set_joint_value_target(GRIPPER_CLOSED)
# gripper.go()
# rospy.sleep(5)
# Cleanly shut down MoveIt
moveit_commander.roscpp_shutdown()
# Exit the script
moveit_commander.os._exit(0)
if __name__ == "__main__":
try:
MoveItIKDemo()
except rospy.ROSInterruptException:
pass
did you solve it?