Here is the relevant code
moveit::planning_interface::MoveGroupInterface hand_group("hand");
const robot_state::JointModelGroup* joint_model_group =
hand_group.getCurrentState()->getJointModelGroup("hand");
moveit::core::RobotStatePtr current_state = hand_group.getCurrentState();
std::vector joint_group_positions;
current_state->copyJointGroupPositions(joint_model_group, joint_group_positions);
joint_group_positions[0] = 0.2;
joint_group_positions[1] = 0.2;
hand_group.setJointValueTarget(joint_group_positions);
bool success = (hand_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
if (success)
{
hand_group.move();
}
The error that I am getting is:
[ INFO] [1528546088.759251274]: Loading robot model 'panda'...
[ INFO] [1528546088.879916832]: Loading robot model 'panda'...
[ INFO] [1528546089.928447024]: Ready to take commands for planning group panda_arm.
[ INFO] [1528546091.680119770]: Ready to take commands for planning group hand.
[ WARN] [1528546093.292230343]: Fail: ABORTED: No motion plan found. No execution attempted.
thank you in advance
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