Thanks Sachin, I commented that out since I didn't know what value to set here. I guess 50.0 is a little too pessimistic...;-) Also, I opened a ticket: https://code.ros.org/trac/ros-pkg/ticket/4787 Best regards, Felix On 2011-02-14 18:20, Sachin Chitta wrote: > You have to give it some allowed planning time. Right now, planning time > will default to 0 since you have commented this line: > //req.motion_plan_request.allowed_planning_time=ros::Duration(50.0); > > The ros output for this case does need fixing though. Please open a ticket > against me to that effect. > > Regards, > Sachin > > > On Mon, Feb 14, 2011 at 4:41 AM, Felix Messmer wrote: > > > > > Dear community, > > > > I feel a little desperate since I don't know what I'm doing wrong here: > > From within our grasp_planner, I want to call the > > "/plan_kinematic_path" service from the ompl package. > > > > Here is how I set it all up: > > > > > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > ros::service::waitForService("/ompl_planning/plan_kinematic_path"); > > > > ros::ServiceClient client = > > > > n.serviceClient("/ompl_planning/plan_kinematic_path"); > > > > motion_planning_msgs::GetMotionPlan::Request req; > > motion_planning_msgs::GetMotionPlan::Response res; > > > > std::vector names(7); > > names[0] = "arm_1_joint"; > > names[1] = "arm_2_joint"; > > names[2] = "arm_3_joint"; > > names[3] = "arm_4_joint"; > > names[4] = "arm_5_joint"; > > names[5] = "arm_6_joint"; > > names[6] = "arm_7_joint"; > > > > > > > > req.motion_plan_request.goal_constraints.joint_constraints.resize(names.size()); > > for (unsigned int i = 0 ; i < names.size(); ++i) > > { > > > > req.motion_plan_request.goal_constraints.joint_constraints[i].joint_name > > = names[i]; > > > > req.motion_plan_request.goal_constraints.joint_constraints[i].position = > > 0.0; > > > > > > req.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_below > > = 0.1; > > > > > > req.motion_plan_request.goal_constraints.joint_constraints[i].tolerance_above > > = 0.1; > > } > > > > //req.motion_plan_request.planner_id=""; > > req.motion_plan_request.group_name="arm"; > > req.motion_plan_request.num_planning_attempts=1; > > //req.motion_plan_request.allowed_planning_time=ros::Duration(50.0); > > > > > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > > > I.e. I just want a plan that brings the arm back into its home position > > at (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0). > > > > The output from the planner is the following (with Debub output): > > > > > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > [ INFO] [1297684313.476421959, 56.604000000]: Received request for planning > > [ INFO] [1297684313.476537217, 56.604000000]: Selected motion planner: > > 'kinematic::LBKPIECE[LBKPIECEkConfig2cob]', with priority 11 > > [DEBUG] [1297684313.476605128, 56.604000000]: No workspace bounding > > volume was set > > [ INFO] [1297684313.479051337, 56.604000000]: ompl planning for group arm > > [DEBUG] [1297684313.479230006, 56.604000000]: Start states before > > normalization 0 val 0.537644 > > [DEBUG] [1297684313.479279888, 56.604000000]: Start states before > > normalization 1 val -1.20871 > > [DEBUG] [1297684313.479314884, 56.604000000]: Start states before > > normalization 2 val 0.204787 > > [DEBUG] [1297684313.479346079, 56.604000000]: Start states before > > normalization 3 val 0.943959 > > [DEBUG] [1297684313.479377832, 56.604000000]: Start states before > > normalization 4 val -0.0503284 > > [DEBUG] [1297684313.479408952, 56.604000000]: Start states before > > normalization 5 val 0.00951776 > > [DEBUG] [1297684313.479439600, 56.604000000]: Start states before > > normalization 6 val -0.00680026 > > [DEBUG] [1297684313.479473040, 56.604000000]: Start states after > > normalization 0 val 0.537644 > > [DEBUG] [1297684313.479504849, 56.604000000]: Start states after > > normalization 1 val -1.20871 > > [DEBUG] [1297684313.479534850, 56.604000000]: Start states after > > normalization 2 val 0.204787 > > [DEBUG] [1297684313.479564637, 56.604000000]: Start states after > > normalization 3 val 0.943959 > > [DEBUG] [1297684313.479594670, 56.604000000]: Start states after > > normalization 4 val -0.0503284 > > [DEBUG] [1297684313.479625155, 56.604000000]: Start states after > > normalization 5 val 0.00951776 > > [DEBUG] [1297684313.479655881, 56.604000000]: Start states after > > normalization 6 val -0.00680026 > > [DEBUG] [1297684313.480120098, 56.604000000]: Kinematic state space > > settings: > > - dimension = 7 > > - start states: > > 0.537644 -1.20871 0.204787 0.943959 -0.0503284 0.00951776 -0.00680026 > > Goal state, threshold = 1e-12, memory address = 0x7fb9b40adb00, state = > > 0 0 0 0 0 0 0 > > Joint constraints: > > [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] [-0.1, 0.1] > > [-0.1, 0.1] > > - bounding box: > > [-2.957, 2.957](0.05914) [-2.0843, 2.0843](0.041686) [-2.957, > > 2.957](0.05914) [-2.0843, 2.0843](0.041686) [-2.957, 2.957](0.05914) > > [-2.0844, 2.0844](0.0416879) [-2.957, 2.957](0.05914) > > Path constraints: > > 0 kinematic constraints > > > > > > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ > > > > > > What irritates me is that "Ompl says ok".......because it's not...=) > > Still the solution trajectory is empty and the error_code.val is 0. > > > > > > I can use the "/plan_kinematic_path" service successfully when it is > > called from within the move_arm_action! > > But since I don't want the robot to move at this point, I just want to > > call the planner and execute the trajectory later. > > I also checked how the move_arm_action_server sets up the > > /plan_kinematic_path request and I couldn't find a difference. > > > > Is there anything that I missed while setting the request? > > How else can I get the solution trajectory to a joint_goal without > > executing the movement? > > > > Thanks for your help! > > > > > > > > Best, > > Felix > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > > > -- > Sachin Chitta > Research Scientist > Willow Garage > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >