Hello List,
I have a basic 5DOF arm that basically works with moveit! and inverse kinematics.
I adapted the moveit_ik_demo.py script from the ROS by Example book and use phrases like:
# Set the target pose.
target_pose = PoseStamped()
target_pose.header.frame_id = reference_frame
target_pose.header.stamp = rospy.Time.now()
target_pose.pose.position.x = -0.274
target_pose.pose.position.y = -0.019
target_pose.pose.position.z = 0.306
target_pose.pose.orientation.x = 0.057
target_pose.pose.orientation.y = 0.047
target_pose.pose.orientation.z = 0.99
target_pose.pose.orientation.w = 0.113
right_arm.set_pose_target(target_pose, end_effector_link)
traj = right_arm.plan()
right_arm.execute(traj)
But the problem is that if I give perfectly reachable poses in the set_pose_target function, on average only 5 out of 6 calls results in success.
The others result in
LBKPIECE1: Unable to sample any valid states for goal tree
Why does it fail so often?
I use a Core2 quad CPU so I would have thought that 5 seconds should be long enough to find the solution.
This is both with KDL and Trac_ik.
Am I missing something?
As said, the poses are perfectly reachable, on average 5 out of 6 times the solution is found.
Thanks in advance, Sietse
↧