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I am using xarm6 (https://github.com/xArm-Developer/xar...) when I am using moveit to plan a random path sometimes it reaches below the base (ground) and plans the path there, hence strikes the ground when execute on real robot. Please advice what should I do to avoid it ?
For future users, this issue can be easily resolved adding box in the urdf file . I used the following code
<link name="ground_plane_box">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.0 1.0 0.5"/>
</geometry>
<material name="Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.0 1.0 0.5"/>
</geometry>
</collision>
</link>
<joint name="ground_plane_box" type="fixed">
<parent link="world" />
<child link="ground_plane_box" />
<origin xyz="0 0 -0.25" rpy="0 0 0" />
</joint>
You can follow the anwser provided here, adding a groundplane to you URDF.
Hi, I am using there official moveit package to move the real arm, if I will make changes in the URDF , I am not sure how can I make a moveit package to move the real arm, can you please suggest something else that I can do to resolve this issue? or how can I make the moveit package from base to move the real robot.
There is nothing wrong with changing the URDF. The existing Moveit package should continue to be used without any problems. If you really don't want to change anything in the URDF, you can also add a box as a floor in RVIZ: Motion Planning --> Scene Objects tab. That will then be taken into account in the motion planning.
Hi, thank you for the solution and added the required changes in the below code link as mentioned here. However, I am getting an warning in rviz window under MotionPlanning Status:Warn -> Requesting initial scene failed, could you please descibe a solution to this. Thank you in advance, looking forward to hearing from you.
Asked: 2022-10-24 14:27:19 -0500
Seen: 126 times
Last updated: Oct 26 '22
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Two questions:
then the answer is most likely: "no, there is no ground plane modelled".
In that case MoveIt did exactly as I would expect: it doesn't know anything about your scene, so no "ground" or ground plane. It only knows about your robot, hanging there in completely empty space. It will assume it's free to move the robot through all that empty space. Including the space occupied by the ground or table your robot is standing on.
Hi ! Thank you for your response, any suggestions in how can I fix it without creating a new moveit package?