Ask Your Question

arm_navigation stack: ompl node not recognising end effector/tip name for processing Cartesian Goals

asked 2013-03-17 05:43:19 -0600

updated 2014-01-28 17:15:46 -0600

ngrennan gravatar image

I'm trying to utilise the OMPL node to generate trajectories.

I've been able to call the ompl_planning/getMotionPlan service on my ompl_planning node by ensuring I've sent through an empty planning_scene_diff_request which has allowed the environment server to share the planning scene.

However my ompl_node is now giving the error:

 Cartesian goals for link  are the only ones that can be processed

which a google search shows the error to be comming from ompl_ros_joint_planner.cpp, in particluar the lines:

    if (!(request.motion_plan_request.goal_constraints.position_constraints[i].link_name == end_effector_name_))
       response.error_code.val = motion_planning_msgs::ArmNavigationErrorCodes::INVALID_LINK_NAME;
       ROS_ERROR("Cartesian goals for link %s are the only ones that can be processed", end_effector_name_.c_str());
       return false;      

Now it seems that the error string is the end_effector_name_.c_str() as being equal to "", which is strange as it should be initialised by the parameter server as "Tool" as per this line of the same program:


And this tip name is shown in the parameters here:

- {base_link: base_link, name: r_arm, tip_link: Tool}
- joints: [joint8, joint9]
  name: r_end_effector

So why can it not find the appropriate tip name from the parameter server and use it to recognise my planning goal request?



edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2013-03-18 04:46:10 -0600

I was specifying the wrong planning group for cartesian goal poses. I was specifying "r_arm" group which as per above doesn't have a "tip name" parameter.

However, after looking through the other parameters in the server, it seems that the more appropriate planning group is the "r_arm_cartesian", which does have a parameter "tip_name"

This cleared the error, but opened up some more fundamental ones!

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools


Asked: 2013-03-17 05:43:19 -0600

Seen: 219 times

Last updated: Mar 18 '13