ABORTED: No motion plan found. No execution attempted.
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 ...
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?
Now I am not sure what the problem can be. did you try re-creating the moveit package by yourself?
Yes I solved it by creating a totally new moveit package with a new
.xacrofile.