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ABORTED: No motion plan found. No execution attempted.

asked 2022-05-20 09:19:13 -0500

francirrapi gravatar image

updated 2022-05-24 02:25:59 -0500

ljaniec gravatar image

Hello everyone,

I am a master science student and for my thesis I am working on a UR5e robot with a Robotiq 2f 85 gripper directly attached. In this project I have to grasp some objects in different positions and orientations, so for this reason I am using MoveIt to get directly the Inverse Kinematics of a desired position and orientation depending on the object detected. But when I send the Pose goal to the robot he didn't nothing and gave me this error:

ABORTED: No motion plan found. No execution attempted.

I tried various planners as RRTConnect, PRM or TRRT but no one worked.

This is the Summary when I bringup the robot:

SUMMARY
========

PARAMETERS
 * /controller_stopper/consistent_controllers: ['joint_state_con...
 * /force_torque_sensor_controller/publish_rate: 500
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_cartesian_traj_controller/type: pass_through_cont...
 * /forward_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_joint_traj_controller/type: pass_through_cont...
 * /hardware_control_loop/loop_hz: 500
 * /joint_based_cartesian_traj_controller/base: base
 * /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /joint_based_cartesian_traj_controller/tip: tool0
 * /joint_based_cartesian_traj_controller/type: position_controll...
 * /joint_group_vel_controller/joints: ['shoulder_pan_jo...
 * /joint_group_vel_controller/type: velocity_controll...
 * /joint_state_controller/publish_rate: 500
 * /joint_state_controller/type: joint_state_contr...
 * /pos_joint_traj_controller/action_monitor_rate: 20
 * /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/goal_time: 0.6
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /pos_joint_traj_controller/state_publish_rate: 500
 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /pos_joint_traj_controller/type: position_controll...
 * /pose_based_cartesian_traj_controller/base: base
 * /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /pose_based_cartesian_traj_controller/tip: tool0_controller
 * /pose_based_cartesian_traj_controller/type: pose_controllers/...
 * /robot_description: <?xml version="1....
 * /robot_status_controller/handle_name: industrial_robot_...
 * /robot_status_controller/publish_rate: 10
 * /robot_status_controller/type: industrial_robot_...
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /scaled_pos_joint_traj_controller/action_monitor_rate: 20
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_pos_joint_traj_controller/state_publish_rate: 500
 * /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_pos_joint_traj_controller/type: position_controll...
 * /scaled_vel_joint_traj_controller/action_monitor_rate: 20
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5 ...
(more)
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Comments

Thank you very much for your answers!!

Yeah the goal_pose is reachable, I already tried that. But why sometimes when this error occurs the robot does nothing and other times it starts to make strange movements (like rotating around him or going in wrong directions, that makes then the robot to collide with objects)? And how I can avoid this movements when the ABORTED error occurs?

I tried to tweak those parameters and another IK solver (trak-ik) but always the same problem.

And I have another question....I tried to set the velocity of the robot while going to a desired pose (because I need a slower movement for opening a drawer) with moveit (set_max_velocity_scaling_factor), but it doesn't work, do you have any suggestions for that?

francirrapi gravatar image francirrapi  ( 2022-06-18 08:23:27 -0500 )edit

Now I am not sure what the problem can be. did you try re-creating the moveit package by yourself?

aarsh_t gravatar image aarsh_t  ( 2022-06-28 02:39:47 -0500 )edit

Yes I solved it by creating a totally new moveit package with a new .xacro file.

francirrapi gravatar image francirrapi  ( 2022-06-28 15:21:50 -0500 )edit

2 Answers

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answered 2022-05-23 08:42:35 -0500

aarsh_t gravatar image

updated 2022-05-24 14:08:39 -0500

There can be several possibilities,

  • The position is actually not reachable using current Inverse Kinematic solver.

  • Time of solving is not enough for the solver.

  • you are asking for fine resolution.

To tweak your parameters, I will suggest to make changes in this file. Try different IK solver such as Trac-IK, IK-fast etc. Try increasing the resolution a bit, Increase timeout and the attempts made by solver. Try to move it to some known position for testing.

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answered 2022-05-23 07:01:28 -0500

Dhara gravatar image

This error is not related to which kind of planner you selects but rather it depends on which pose are you give to moveit. It has multiple reasons for no motion found. One could be:

  • Check whether your goal_pose is reachable in workspace, try to play with different poses to give your robot.

If the goal_pose is not reachable then moveit can not plan motion as robot couldn't executes that motion.

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Asked: 2022-05-20 09:19:13 -0500

Seen: 107 times

Last updated: Jun 18