Moveit with two planning groups [closed]
Hello!
I have a universal robot that I want to control with moveit, but I have added a custon actuator near the eef, that also needs a goal in order to make the TCP get to the requested positions.
I did the following:
Created a Planning group only for the Universal Robots arm, with the 'scaled_pos_joint_traj_controller'
Created a different planning group for the other actuator (called "reaction arm"), with a custom FollowJointTrajectory controller
Created a 'robot' planning group, joining both planning groups. This is the one I aim to control using moveit.
If I send a group of joint values (7 values = 6 of the arm + the custom actuator) to the moevit commander server, everything works fine. I get the request to move both arm and reaction arm actuator, and both move without any issues.
However, when sending a position in space (x, y, z, qx, qy, qz, qw) it doesn't move and the following gets printed on the console:
[ INFO] [1666971418.092952411]: Ready to take commands for planning group robot.
[ INFO] [1666971418.391112115]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ WARN] [1666971418.392079703]: Cannot find planning configuration for group 'robot' using planner 'RRTConnectkConfigDefault'. Will use defaults instead.
[ INFO] [1666971418.400985505]: Planner configuration 'robot' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1666971418.402447013]: robot/robot: Starting planning with 1 states already in datastructure
[ INFO] [1666971418.402565255]: robot/robot: Starting planning with 1 states already in datastructure
[ INFO] [1666971418.402650253]: robot/robot: Starting planning with 1 states already in datastructure
[ INFO] [1666971418.402705428]: robot/robot: Starting planning with 1 states already in datastructure
[ERROR] [1666971428.401849115]: robot/robot: Unable to sample any valid states for goal tree
[ INFO] [1666971428.402132673]: robot/robot: Created 1 states (1 start + 0 goal)
[ERROR] [1666971428.405928852]: robot/robot: Unable to sample any valid states for goal tree
[ INFO] [1666971428.406043602]: robot/robot: Created 1 states (1 start + 0 goal)
[ERROR] [1666971428.410176418]: robot/robot: Unable to sample any valid states for goal tree
[ INFO] [1666971428.410264698]: robot/robot: Created 1 states (1 start + 0 goal)
[ERROR] [1666971428.411304502]: robot/robot: Unable to sample any valid states for goal tree
[ INFO] [1666971428.411387055]: robot/robot: Created 1 states (1 start + 0 goal)
[ WARN] [1666971428.411545666]: ParallelPlan::solve(): Unable to find solution by any of the threads in 10.010131 seconds
[ INFO] [1666971428.566960910]: Unable to solve the planning problem
[ WARN] [1666971428.567648014]: Fail: ABORTED: No motion plan found. No execution attempted.
[ INFO] [1666971428.567749494]: Visualizing plan 2 (Pose Goal) FAILED
[ERROR] [1666971428.690040606]: Failed to call srv: Moveit commander
I don't know if there's something I can configure differently but it's weird to me that planning with joint values work, while commanding to a certain position doesn't. Shouldn't it be similar? Is it the IK solver the problem here?
I hope someone has anything to share with me in order to solve the issue, and if more ...
likely. You typically see "Unable to sample any valid states for goal tree" if that's the case.
Any ideas on what I could try to make it move? I find it weird that when I command the robot to a joint based position it moves. It's only with position based commands that it doesn't.