move_arm fails for for joint goal [closed]

asked 2013-08-27 05:29:09 -0600

updated 2013-08-27 06:08:28 -0600

We're using move_arm on our custom Katana-based robot (5 DoF). Sending a goal with pose + orientation constraint works more or less; it usually fails a couple of times (since no IK solution could be found), so we sample around the desired goal pose until we find a solution.

But when I use IK to first calculate a joint state and then send that joint constraint to move_arm, I often get the following error:

Will not plan to requested joint goal since it is in collision

Analysis of the error shows that it's between one link of the arm and a collision object that I've added to the scene. I actually want those objects to collide, and added this to allowed_contacts, so it's strange that move_arm complains.

On further testing, I've noticed that if I use the exact pose that move_arm accepted as a pose goal, and use that as input to the IK, it works.

This all leads me to believe that move_arm does some additional checks on the IK solutions.

Any ideas?

edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by tfoote
close date 2016-08-08 01:44:22.901722