moveit rviz executes plan but not script

asked 2019-12-25 02:01:51 -0600

georgebuild gravatar image

I am using ROS Melodic with Ubuntu 16 running virtual with Parallels on Macbook Pro

I have created xacro file that integrates the wx200 Trossen robot arm with a vertical gantry robot with a tray that extends horizontally. The arm and tray are defined as 2 move groups I have used the Moveit Setup Assistant to generate the launch files, yaml files, surdf file etc

I can use Rviz to drag the arm or tray into any reasonable position and execute the planned path successfully. However when I attempt to do them same with a python script as per http://docs.ros.org/melodic/api/movei...

It more often fails with the error

ABORTED: No motion plan found. No execution attempted.

On the Rviz terminal the error is "RRTConnect: Unable to sample any valid states for goal tree"

I have verified that the goal position of the move group matches the position in the goal state in rviz that rviz will successfully execute where the script fails.

What is RVIZ doing differently from my script and how do I get my script working?

The messages the come from the Rviz terminal after a successfully executed trajectory seem to mostly match those generated by the script attempting a the same goal but without the error message. There is also mention of

[ INFO] [1577256266.952056630]: Planning attempt 1 of at most 1
[ INFO] [1577256266.952701828]: Planner configuration 'tray' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1577256266.953182542]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1577256266.953430426]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1577256266.953914875]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1577256266.955898687]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1577256266.956269627]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1577256266.959214103]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1577256266.959952153]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1577256266.961281256]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1577256266.966632123]: ParallelPlan::solve(): Solution found by one or more threads in 0.013677 seconds
[ INFO] [1577256266.967154776]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1577256266.967338454]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1577256266.967794293]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1577256266.969386733]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1577256266.975225945]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1577256266.977646842]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1577256266.978931579]: RRTConnect: Created 6 states (2 start + 4 goal)
[ INFO] [1577256266.983391074]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1577256266.983618173]: ParallelPlan::solve(): Solution found by one or more threads in 0.016620 seconds
[ INFO] [1577256266.983871001]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1577256266.983963891]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1577256266.987698261]: RRTConnect: Created 6 states (2 ...
(more)
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