Shreeyak's profile - activity

I'm using MoveIt with the default RRTConnectkConfigDefault motion planning library. I have a 6 DoF arm to which I pass target poses using roscpp's MoveGroupInterface. I'm using ros_control and have created my own Fake Controllers of the type FollowJointTrajectory. The target poses are acquired from the readings of a depth camera in Gazebo.

By default, I do not use the octomap using the depth cam. In this cases, MoveIt is able to generate the plans and also execute them successfully. I can see the arm moving in Rviz. I do not have an arm in Gazebo, it's only loaded in Rviz.

When I use the octomap, MoveIt can generate the plans, but fails during execution. All the joint states are being published on topic /joint_states. The same code works when I remove the sensors.yaml file and don't use the octomap. The controllers are up. I don't see any other errors in the terminal. Please help me identify the cause.

EDIT: When I increase the resolution of the octomap from 0.01m to 0.05m, then suddenly things start to work? I changed the value in moveit_config/sensor_manager.launch file as so:

<param name="octomap_resolution" type="double" value="0.05" />

I'd like to make things work at 0.01m resolution, it looks granular enough.

Here are the error messages: Error from MoveGroupInterface terminal where I pass in commands:

[ INFO] [1524323290.317619120, 261.964000000]: Ready to take commands for planning group arm.
[ INFO] [1524323293.819272021, 265.299000000]: 3D Co-ords of next target: X: 0.487010, Y: -0.132180, Z:-0.215447
[ INFO] [1524323303.789838914, 275.190000000]: ABORTED: Solution found but controller failed during execution

Error from the MoveIt terminal:

  [ INFO] [1524323029.558940862, 3.456000000]: Starting scene monitor
  [ INFO] [1524323029.562571287, 3.460000000]: Listening to '/move_group/monitored_planning_scene'
  [ INFO] [1524323033.952942898, 7.842000000]: Constructing new MoveGroup connection for group 'arm' in namespace ''
  [ INFO] [1524323035.143276258, 9.027000000]: Ready to take commands for planning group arm.
  [ INFO] [1524323035.143337694, 9.027000000]: Looking around: no
  [ INFO] [1524323035.143357118, 9.027000000]: Replanning: no
  [New Thread 0x7fffbef7e700 (LWP 20461)]
  [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/empty/pose/local/info, deleting message. This warning is printed only once.
  [ WARN] [1524323072.113526614, 45.706000000]: Failed to fetch current robot state.
  [ INFO] [1524323072.113676595, 45.706000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
  Debug:   Starting goal sampling thread
  [New Thread 0x7fffb3fff700 (LWP 21008)]
  Debug:   Waiting for space information to be set up before the sampling thread can begin computation...
  [ INFO] [1524323072.116232595, 45.709000000]: Planner configuration 'arm[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
  Debug:   The value of parameter 'longest_valid_segment_fraction' is now: '0.0050000000000000001'
  Debug:   The value of parameter 'range' is now: '0'
  Debug:   arm[RRTConnectkConfigDefault]: Planner range detected to be 4.017020
  Info:    arm[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
  Debug:   arm[RRTConnectkConfigDefault]: Waiting for goal region samples ...
  Debug:   Beginning sampling thread ...