Moveit! and URDF problem
Hello Dear Community! I have a problem that I can't resolve during already a few days. I have created simple test robot arm in SolidWorks. I followed instructions on setting the axis correctly for all joints (X-forward, Z-up). I have exported URDF model from SolidWorks. I have created Moveit! config for this URDF model with Moveit! wizard. Models successfully loads into rviz. I can control it with robot_state_publisher GUI panel. But I can't set the Goal State with Interactive Marker either with the code. I always get "Fail: ABORTED: No motion plan found. No execution attempted.". I have uploaded to GoogleDrive two tars:
- drive.google.com/file/d/0Bx529USSkqSbd0k0djE0aEVKYTg/edit?usp=sharing (model exported from SolidWorks: URDF, meshes)
- drive.google.com/file/d/0Bx529USSkqSbbGRjckp5bVRNbjQ/edit?usp=sharing (generated Moveit! config)
Could you please be so kind and review this packages, and tell me what I'm doing wrong! I really need help with this!
Great thanks ahead!
An arm for Moveit! shall be strictly 6DOF? Or could have less DOF?
Try to set the logger levels of move_arm and ompl_ros to DEBUG using rxconsole. That could give some extra debug info.