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get MoveIt! planning status


is it possible to get some feedback from MoveIt! using Python? I am using the planning interface in Python and TracIK.

I create a plan (adding waypoints) -> call group.compute_cartesion_path -> execute the plan

After the execute the robot is not moving. In the roslog, I can see, that it followed 0 pose from my poses, with 0% success rate. The problem, that sometimes the plan is not impossible, if I move away my robot and try the same plan again, it works perfectly. Maybe it is just a timeout, or collision, or something else.

I would like to catch this kind of "errors". Is there any nice way to do it? Or an API I can use?

Thanks in advance.

Balint Tahi