Hello,
I’m using moveit c++ interface in order to send a cartesian pose to the gazebo simulated robot.
Below is the code which i’m using to send the pose, the mentioned pose is retrived from gazebo by calling gazebo/get_model_state service hence pose is accurate.
This pose is definately reachable as i have planend simular pose for gazebo simulated robot using rviz gui + moveit plugin.
When i use rviz gui to generate any pose and plan+execute it, there is no error. When i use moveit c++ interface there will be error saying ABORTED: No motion plan found. No execution attempted..
code:
#include
#include
int main(int argc, char** argv)
{
ros::init(argc, argv, "moveit_interface");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
static const std::string PLANNING_GROUP = "panda_arm";
moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
//setting up movegroup class
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
const robot_state::JointModelGroup* joint_model_group =
move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);
move_group.setPlanningTime(10);
// Planning to a Pose goal
// We can plan a motion for this group to a desired pose for the
// end-effector.
geometry_msgs::Pose target_pose1;
target_pose1.orientation.x = 0.001775;
target_pose1.orientation.y = 0.026732;
target_pose1.orientation.z = -0.994314;
target_pose1.orientation.w = -0.994314;
target_pose1.position.x = 0.397817;
target_pose1.position.y = 0.913696;
target_pose1.position.z = 0.810213;
move_group.setPoseTarget(target_pose1);
//call the planer to plan the myplan
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
//moving to pose goal
move_group.move();
ros::shutdown();
return 0;
}
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