I'm using a KUKA iiwa icw the iiwa_stack packages to interface with ROS indigo.
I'm able to visualize the robot in rviz and compute trajectories within the GUI using moveit.
However, when trying to use c++ command from a source file I get the error:
[ERROR] "unable to sample valid state for goal tree".
I've seen more people with this problem but nowhere a satisfactory answer.
I tried multiple planner engines, increasing plan time and various goal tolerances.
The headers are correct of the target pose and I initialize the start pose to the current one.
Again the GUI plans and executes fine, code does not.
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