MoveIt Octomap Integration causing planning to fail

edit

Hello everyone,

I'm currently trying to integrate MoveIt's octomap support into my project. My project consists of a 6 DoF arm with an Intel Realsense attached to it near the end effector. I have setup my sensors using a .yaml file located in my moveit configuration folder:

  sensors:
  - filtered_cloud_topic: filtered_cloud
    max_range: 3.0
    max_update_rate: 1
    padding_offset: 0.1
    padding_scale: 1.0
    point_cloud_topic: /D415/depth/color/points
    point_subsample: 2
    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

However, including this in my launch files causes problems inside my project. First, any motion plan given to the arm to any pose times out. There are no goal state or start state errors. Next, there is no octomap present inside Rviz. Topics do not publish an occupancy map nor do the Rviz octomap plugins provide any octomap visualization. I have confirmed that the point_cloud_topic is publishing pointclouds during runtime.

Error log during planning attempt:

[ INFO] [1589252911.303587838, 515.900000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1589252911.310087690, 515.905000000]: Planning attempt 1 of at most 1
[ INFO] [1589252911.346517651, 515.943000000]: Planner configuration 'arm[BKPIECE]' will use planner 'geometric::BKPIECE'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1589252911.346601414, 515.943000000]: arm[BKPIECE]: Attempting to use default projection.
[ INFO] [1589252911.346675818, 515.943000000]: arm[BKPIECE]: Attempting to use default projection.
[ INFO] [1589252911.346703175, 515.943000000]: arm[BKPIECE]: Attempting to use default projection.
[ INFO] [1589252911.346734823, 515.943000000]: arm[BKPIECE]: Attempting to use default projection.
[ INFO] [1589252911.346770940, 515.943000000]: arm[BKPIECE]: Attempting to use default projection.
[ INFO] [1589252911.360522409, 515.956000000]: arm[BKPIECE]: Starting planning with 1 states already in datastructure
[ INFO] [1589252911.360666517, 515.956000000]: arm[BKPIECE]: Starting planning with 1 states already in datastructure
[ INFO] [1589252911.366214098, 515.963000000]: arm[BKPIECE]: Starting planning with 1 states already in datastructure
[ INFO] [1589252911.366244975, 515.963000000]: arm[BKPIECE]: Starting planning with 1 states already in datastructure
[ INFO] [1589252916.446794144, 521.039000000]: arm[BKPIECE]: Created 10 (5 start + 5 goal) states in 9 cells (5 start (5 on boundary) + 4 goal (4 on boundary))
[ INFO] [1589252916.638857783, 521.231000000]: arm[BKPIECE]: Created 11 (6 start + 5 goal) states in 10 cells (6 start (6 on boundary) + 4 goal (4 on boundary))
[ INFO] [1589252916.722544431, 521.315000000]: arm[BKPIECE]: Created 9 (5 start + 4 goal) states in 9 cells (5 start (5 on boundary) + 4 goal (4 on boundary))
[ INFO] [1589252916.734328754, 521.326000000]: arm[BKPIECE]: Created 11 (5 start + 6 goal) states in 10 cells (5 start (5 on boundary) + 5 goal (5 on boundary))
[ WARN] [1589252916.734446704, 521.326000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 5.387628 seconds
[ INFO] [1589252916.734545276, 521.326000000]: Unable to solve the planning problem
[ INFO] [1589252916.764457014, 521.356000000]: ABORTED: No motion plan found. No execution attempted.

The filtered_cloud topic publishes pointclouds without any data in them. Since the arm starts in a default position pointing straight up, it's ... (more)