On kinetic, Ubuntu 16.04, trying to make the arm of my robot move a little bit.
the code:
bool run_script(){
moveit::planning_interface::MoveGroupInterface move_group("arm");
geometry_msgs::Pose target_pose1;
target_pose1.orientation.w = 1.0;
target_pose1.position.x = 0.28;
target_pose1.position.y = -0.7;
target_pose1.position.z = 1.0;
move_group.setPoseTarget(target_pose1);
move_group.move();
return true;
}
The log:
[ INFO] [1515508915.187395653, 2305.704000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1515508915.187550137, 2305.704000000]: Planning attempt 1 of at most 1
Debug: Starting goal sampling thread
[ INFO] [1515508915.188247424, 2305.704000000]: Planner configuration 'arm' 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: RRTConnect: Planner range detected to be 4.610440
Info: RRTConnect: Starting planning with 1 states already in datastructure
Debug: RRTConnect: Waiting for goal region samples ...
Debug: Beginning sampling thread computation
Error: RRTConnect: Unable to sample any valid states for goal tree
at line 215 in /tmp/binarydeb/ros-kinetic-ompl-1.2.1/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp
Info: RRTConnect: Created 1 states (1 start + 0 goal)
Info: No solution found after 5.007760 seconds
Debug: Attempting to stop goal sampling thread...
Debug: Stopped goal sampling thread after 0 sampling attempts
[ INFO] [1515508920.215263508, 2309.500000000]: Unable to solve the planning problem
I even tried getting the current pose and change it a little:
bool run_script(){
moveit::planning_interface::MoveGroupInterface move_group("arm");
geometry_msgs::PoseStamped pose1 = move_group.getCurrentPose();
pose1.pose.position.x = pose1.pose.position.x + pose1.pose.position.x/4;
move_group.setPoseTarget(pose1);
move_group.move();
return true;
}
If you need anymore info let me know.
↧