ROS Kinetic Moveit error: joint is constrained to be below the minimum bounds
Hello ROS Helpers,
Environment: Ubuntu 16.04.6 LTS ROS Kinetic and ROS Kinetic Moveit
Issue (steps to reproduce):
git repository to test: https://github.com/alansrobotlab/inmo...
git cloned to catkin/src directory
used Moveit setup assistant along with inmoov.urdf.xacro (https://github.com/alansrobotlab/inmo...) to set up moveit_config package. with one planning group ARM and one ROS controller named arm_controller,
Kinematic resolve chosen > KDLK Kinematic resolver
I then launched - roslaunch inmoov_moveit_config demo.launch
Then Moveit gui launches
I have updated the start state
For goal state I chose > random valid > and then update
Then I clicked on "Plan" button on the left (under commands)
And I got the errors below ( Unable to construct goal representation)
[ INFO] [1631153485.080208741]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1631153485.080258197]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1631153486.133546172]: Ready to take commands for planning group arm.
[ INFO] [1631153486.133667212]: Looking around: no
[ INFO] [1631153486.133720054]: Replanning: no
[ INFO] [1631154002.995467690]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ WARN] [1631154002.995841327]: Joint 'l_shoulder_lift_joint' from the starting state is outside bounds by a significant margin: [ -0.785398 ] shouldbe in the range [ 0.785398 ], [ -2.35619 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.1)
[ WARN] [1631154002.995900629]: Joint 'l_elbow_flex_joint' from the starting state is outside bounds by a significant margin: [ -0.872665 ] should bein the range [ -0.261799 ], [ -1.48353 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.1)
[ WARN] [1631154002.995939194]: Joint 'l_wrist_roll_joint' from the starting state is outside bounds by a significant margin: [ 1.5708 ] should be inthe range [ 3.14159 ], [ 0 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.1)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
[ WARN] [1631154003.000041918]: Joint l_shoulder_lift_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1631154003.000099880]: Joint l_elbow_flex_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1631154003.000138898]: Joint l_wrist_roll_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1631154003.000307257]: Joint l_shoulder_lift_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1631154003.000367762]: Joint l_elbow_flex_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1631154003.000399424]: Joint l_wrist_roll_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ERROR] [1631154003.000533483]: The constraints for joint 'l_shoulder_lift_joint' are such that there are no possible values for the joint: min_bound: 0.785398, max_bound: -2.35619. Failing.
[ERROR] [1631154003.000614143]: Unable to construct goal representation
[ WARN] [1631154003.277322336]: Fail: ABORTED: Catastrophic failure
I got very confused....,
Can you please help?