Got IK error 33 after generating IK solver using planning description configuration wizard

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-33 means IK_LINK_IN_COLLISION. so make sure that at your goal pose your robot does not collide with other objects. To check the detailed collision information, use the following code:

assuming that you have a variable planning_environment::CollisionModels* cm_, then you can use:

std::vector<arm_navigation_msgs::ContactInformation> contacts;
cm_->getAllCollisionsForState(*state,contacts);
for(int i=0;i<contacts.size();i++)
{
    std::cout<<contacts[i].contact_body_1<<" and "<<contacts[i].contact_body_2
            <<" in collision"<<std::endl;
}