RobMove: PLANNING FAILED

[Cadodo97]

Hi, congrats for the repository, it is really rich in material. I'm encountering some problem with RobMove. When I try to plan with RobMove using: ros2 action send_goal -f /Robmove ros2srrc_data/action/Robmove "{type: 'PTP', speed: 1.0, x: 0.2, y: 0.2, z: 0.9, qx: 0.0, qy: 0.0, qz: 0.0, qw: 0.0}" I get: [CLIENT - robot.py]: RobMove ACTION EXECUTED -> Result: RobMove: PLANNING FAILED

I'm sure the goal point is in the robot workspace. I changed the type, but nothing happened.

I also tried with test_RobMove.py same reuslt.

Could someone help me? Thanks a lot.

[GPatatas]

I am having the same problem when using RobMove ros2 action send_goal -f /Robmove ros2srrc_data/action/Robmove "{type: 'LIN', speed: 1.0, x: 0.3, y: 0.0, z: 0.0, qx: 0.0, qy: 0.0, qz: 0.0, qw: 0.0}" Waiting for an action server to become available... Sending goal: type: LIN speed: 1.0 x: 0.3 y: 0.0 z: 0.0 qx: 0.0 qy: 0.0 qz: 0.0 qw: 0.0

Goal accepted with ID: 44afee7203f64d3c9c6e60799cdf4f9c

Result: success: false message: 'RobMove: PLANNING FAILED'

Goal finished with status: SUCCEEDED

If anyone can help it would be nice

[AndreVazquezVarela]

When launching the IRB120 robot with the irb120_1.world, the robot starts in the following pose:

If you try to move the robot using this command:

ros2 action send_goal -f /Robmove ros2srrc_data/action/Robmove "{type: 'PTP', speed: 1.0, x: 0.2, y: 0.2, z: 0.9, qx: 0.0, qy: 0.0, qz: 0.0, qw: 0.0}"

You’ll likely get:

Result: success: false message: 'RobMove: PLANNING FAILED'

This is because the provided quaternion corresponds to an invalid or undefined orientation for the planner.

To check the current pose, run:

ros2 topic echo /Robpose

Example output:

x: 0.30199980255789305 y: -6.15e-07 z: 1.0629918637363154 qx: 8.13e-07 qy: 0.9999999999 qz: 7.74e-08 qw: -1.33e-05

As you can see, the current orientation is approximately qy = 1.0 with the rest near zero. To avoid planning failures, use that orientation:

Working example:

ros2 action send_goal -f /Robmove ros2srrc_data/action/Robmove "{type: 'PTP', speed: 1.0, x: 0.2, y: 0.2, z: 0.9, qx: 0.0, qy: 1.0, qz: 0.0, qw: 0.0}"

This should result in:

Result: success: true message: 'RobMove: SUCCESS'