[ros-users] unable to get valid path when calling/ompl_planning/plan_kinematic_path
Felix Messmer
felix_messmer at web.de
Mon Feb 14 21:19:02 UTC 2011
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 <felix_messmer at web.de>
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<motion_planning_msgs::GetMotionPlan>("/ompl_planning/plan_kinematic_path");
> >
> > motion_planning_msgs::GetMotionPlan::Request req;
> > motion_planning_msgs::GetMotionPlan::Response res;
> >
> > std::vector<std::string> 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 at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
>
>
>
> --
> Sachin Chitta
> Research Scientist
> Willow Garage
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