Hello everyone,
today I tried to apply some joint constraints to my robot. Although it did successfully plan out a path, the warning messages "Returning dirty link transforms" keep popping up. I have never encountered such warning messages in other situations, such as planning without constraints and planning with orientation constraints. Am I doing something wrong or I can just safely ignore these warnings?
The following is the console messages I got for planning with joint constraints:
...
[ INFO] [1454419381.859772439]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1454419381.862497749]: Planner configuration 'arm[RRTConnectkConfigDefault]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1454419381.863397620]: Allocating specialized state sampler for state space
[ INFO] [1454419381.863549883]: arm[RRTConnectkConfigDefault]: Starting planning with 1 states already in datastructure
[ WARN] [1454419381.863729300]: Returning dirty link transforms
[ WARN] [1454419381.864919336]: Returning dirty link transforms
[ WARN] [1454419381.865967656]: Returning dirty link transforms
[ WARN] [1454419381.867010929]: Returning dirty link transforms
[ WARN] [1454419381.867994975]: Returning dirty link transforms
[ WARN] [1454419381.868982175]: Returning dirty link transforms
[ WARN] [1454419381.869976665]: Returning dirty link transforms
[ WARN] [1454419381.870985825]: Returning dirty link transforms
[ WARN] [1454419381.871962708]: Returning dirty link transforms
[ WARN] [1454419381.872938681]: Returning dirty link transforms
[ INFO] [1454419381.878812043]: arm[RRTConnectkConfigDefault]: Created 4 states (2 start + 2 goal)
[ INFO] [1454419381.878908946]: Solution found in 0.016248 seconds
[ INFO] [1454419381.880636688]: SimpleSetup: Path simplification took 0.001372 seconds and changed from 3 to 2 states
...
The following is the code I used:
// Setting the target pose
geometry_msgs::Pose target_pose1;
target_pose1.orientation.x = 1;
target_pose1.orientation.y = 0;
target_pose1.orientation.z = 0;
target_pose1.orientation.w = 0;
target_pose1.position.x = 0.55;
target_pose1.position.y = 0.0;
target_pose1.position.z = 0.3;
group.setPoseTarget(target_pose1);
// Setting the start joint positions for all joints to be 0
std::vector start_joint_positions;
start_joint_positions.resize(6, 0.0);
robot_state::RobotState start_state(*group.getCurrentState());
const robot_state::JointModelGroup *joint_model_group = start_state.getJointModelGroup(group.getName());
start_state.setJointGroupPositions(joint_model_group, start_joint_positions);
group.setStartState(start_state);
// Constructing the joint constraint
moveit_msgs::JointConstraint jcm;
jcm.joint_name = "arm_5_joint";
jcm.position = -1.4;
jcm.tolerance_above = 1.5;
jcm.tolerance_below = 1.5;
jcm.weight = 1.0;
// Applying the joint constraints
moveit_msgs::Constraints test_constraints;
test_constraints.joint_constraints.push_back(jcm);
group.setPathConstraints(test_constraints);
// Start planning
moveit::planning_interface::MoveGroup::Plan my_plan;
bool success = false;
success = group.plan(my_plan);
Any help would be highly appreciated! Thanks in advanced!
Best regards,
Junhong Liang
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