Fail: ABORTED: No motion plan found. No execution attempted.
Hi, I am trying to do pick and place using Aruco marker using xarm6 robot. Initially I moved the robot to a position and get the values using _commander.get_current_pose(end_effector_link='link6').pose
which I used for testing my code. Later when I am trying to move the robot using aruco marker it is not failing, the value that I was getting from the marker is l[-0.36180091 0.05431014 1.7590884 0.96470809 -0.02795454 0.04768728 0.25745437]
, I used easyhand eye easyhand eye to do camera on base calibration. This is the published result from handeye tf_static
transforms:
-
header:
seq: 0
stamp:
secs: 1666814938
nsecs: 265100965
frame_id: "world"
child_frame_id: "ground_plane_box"
transform:
translation:
x: 0.0
y: 0.0
z: -0.25
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
-
header:
seq: 0
stamp:
secs: 1666814938
nsecs: 265106887
frame_id: "link6"
child_frame_id: "link_eef"
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
-
header:
seq: 0
stamp:
secs: 1666814938
nsecs: 265107660
frame_id: "world"
child_frame_id: "link_base"
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
---
transforms:
-
header:
seq: 0
stamp:
secs: 1666814938
nsecs: 492916822
frame_id: "link_base"
child_frame_id: "camera_color_optical_frame"
transform:
translation:
x: 0.2577706943295264
y: 1.9663443513784034
z: 0.8671733835414315
rotation:
x: -0.051832591412976504
y: -0.7127961533996493
z: 0.6981660834436676
w: 0.0424163423105879
---
transforms:
-
header:
seq: 0
stamp:
secs: 1666815250
nsecs: 333300356
frame_id: "world"
child_frame_id: "ground_plane_box"
transform:
translation:
x: 0.0
y: 0.0
z: -0.25
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
-
header:
seq: 0
stamp:
secs: 1666815250
nsecs: 333305269
frame_id: "link6"
child_frame_id: "link_eef"
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
-
header:
seq: 0
stamp:
secs: 1666815250
nsecs: 333305888
frame_id: "world"
child_frame_id: "link_base"
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
---
transforms:
-
header:
seq: 0
stamp:
secs: 1666815250
nsecs: 565394639
frame_id: "link_base"
child_frame_id: "camera_color_optical_frame"
transform:
translation:
x: 0.2577706943295264
y: 1.9663443513784034
z: 0.8671733835414315
rotation:
x: -0.051832591412976504
y: -0.7127961533996493
z: 0.6981660834436676
w: 0.0424163423105879
---
I would like to share the rqt graph for better understanding how my system is working.
The error "No motion plan found. No execution attempted" is discussed many times in this community. Therefore, it is suggested to search before posting the question. Nevertheless, this error is coming from the MoveIt package. You may check the following pages for answers: #q240723#q316194#q341130#q210818 and many more!