I'm trying to use terminal to control my openManipulator_x through a gazebo simulation without much success. I've tried using the teleop keyboard controls and it's able to move the gazebo simulation. I'm completely new to ROS and robots and I have been trying to figure out how to use the command line interface to move the robot in certain directions. Below are the steps I took to try to move the arm simulation. Any help would be appreciated!
1. I launched roscore and rqt with the following commands:
$ roscore
$ rqt
2. Launched a controller (I set use_platform and use_moveit to false in the urdf file):
$ roslaunch open_manipulator_controller open_manipulator_controller.launch
3. Launched an instance of gazebo:
~$ roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch
4. I used the service caller in rqt to attempt to move the openmanipulator:
When I try to call /open_manipulator/goal_task_space_path_from_present_position_only, the arm doesn't move and I get this error from rqt
[INFO] [OpenManipulator Controller] Get Moveit plnning option
[ INFO] [1561585591.330372835]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ WARN] [1561585591.330758736]: Near-zero value for absolute_x_axis_tolerance
[ WARN] [1561585591.330785697]: Near-zero value for absolute_y_axis_tolerance
[ WARN] [1561585591.330804663]: Near-zero value for absolute_z_axis_tolerance
[ WARN] [1561585591.330876128]: Near-zero value for absolute_x_axis_tolerance
[ WARN] [1561585591.330891033]: Near-zero value for absolute_y_axis_tolerance
[ WARN] [1561585591.330906271]: Near-zero value for absolute_z_axis_tolerance
[ INFO] [1561585591.331028691]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1561585591.331173061]: RRTConnect: Starting planning with 1 states already in datastructure
[ERROR] [1561585591.341063100]: Unable to sample a point inside the constraint region
[ERROR] [1561585591.341107685]: Unable to sample a point inside the constraint region
[ERROR] [1561585591.341120669]: Unable to sample a point inside the constraint region
[ERROR] [1561585591.341130476]: Unable to sample a point inside the constraint region
[ INFO] [1561585591.363872474]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1561585591.363899049]: No solution found after 0.032770 seconds
[ INFO] [1561585591.363923271]: Unable to solve the planning problem
[ WARN] [1561585591.364088512]: Fail: ABORTED: No motion plan found. No execution attempted.
[WARN] Failed to Plan (task space goal)
[ERROR] [1561585638.899401855]: Exception thrown while processing service call: map::at
When I try to use /open_manipulator/moveit/set_kinematics_post, the service returns:
is_planned bool = false. I also get this from the rqt in terminal:
[INFO] [OpenManipulator Controller] Get Moveit plnning option
[ INFO] [1561585411.929902436]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ WARN] [1561585411.930238786]: Near-zero value for absolute_x_axis_tolerance
[ WARN] [1561585411.930284798]: Near-zero value for absolute_y_axis_tolerance
[ WARN] [1561585411.930297725]: Near-zero value for absolute_z_axis_tolerance
[ WARN] [1561585411.930368682]: Near-zero value for absolute_x_axis_tolerance
[ WARN] [1561585411.930381123]: Near-zero value for absolute_y_axis_tolerance
[ WARN] [1561585411.930390158]: Near-zero value for absolute_z_axis_tolerance
[ INFO] [1561585411.930586057]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1561585411.930761964]: RRTConnect: Starting planning with 1 states already in datastructure
[ERROR] [1561585413.049019574]: Unable to sample a point inside the constraint region
[ERROR] [1561585413.050371680]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1561585413.050416598]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1561585413.050428023]: No solution found after 0.020255 seconds
[ INFO] [1561585413.050443534]: Unable to solve the planning problem
[ WARN] [1561585413.050637723]: Fail: ABORTED: No motion plan found. No execution attempted.
[WARN] Failed to Plan (task space goal)
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