Hi all!
I use ROS Indigo and MoveIt for KUKA.
I want to plan path and if planning is not good (may be I have start or target point in collision or something else) - receive error and replan according to this error.
There are a lot of errors:
enum { SUCCESS = 1 };
enum { FAILURE = 99999 };
enum { PLANNING_FAILED = -1 };
enum { INVALID_MOTION_PLAN = -2 };
enum { MOTION_PLAN_INVALIDATED_BY_ENVIRONMENT_CHANGE = -3 };
enum { CONTROL_FAILED = -4 };
enum { UNABLE_TO_AQUIRE_SENSOR_DATA = -5 };
enum { TIMED_OUT = -6 };
enum { PREEMPTED = -7 };
enum { START_STATE_IN_COLLISION = -10 };
enum { START_STATE_VIOLATES_PATH_CONSTRAINTS = -11 };
enum { GOAL_IN_COLLISION = -12 };
enum { GOAL_VIOLATES_PATH_CONSTRAINTS = -13 };
enum { GOAL_CONSTRAINTS_VIOLATED = -14 };
enum { INVALID_GROUP_NAME = -15 };
enum { INVALID_GOAL_CONSTRAINTS = -16 };
enum { INVALID_ROBOT_STATE = -17 };
enum { INVALID_LINK_NAME = -18 };
enum { INVALID_OBJECT_NAME = -19 };
enum { FRAME_TRANSFORM_FAILURE = -21 };
enum { COLLISION_CHECKING_UNAVAILABLE = -22 };
enum { ROBOT_STATE_STALE = -23 };
enum { SENSOR_INFO_STALE = -24 };
enum { NO_IK_SOLUTION = -31 };
But when I plan I always have in log_file only 1 or -1. I tried a lot of combinations but there are two variants - good or not.
...
MoveGroupPtr group;
...
moveit::planning_interface::MoveGroup::Plan my_plan;
moveit::planning_interface::MoveItErrorCode result;
result = group->plan(my_plan);
...
log_file << "result " << result.val << endl;
Can I use all codes of errors? Thank you for your attention!
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