{"action":"created","issue":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/202","labels_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/202/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/202/comments","events_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/202/events","html_url":"https://github.com/ros-industrial/universal_robot/issues/202","id":77144925,"number":202,"title":"Unable to solve motion planning problem","user":{"login":"TheDash","id":1786601,"avatar_url":"https://avatars.githubusercontent.com/u/1786601?v=3","gravatar_id":"","url":"https://api.github.com/users/TheDash","html_url":"https://github.com/TheDash","followers_url":"https://api.github.com/users/TheDash/followers","following_url":"https://api.github.com/users/TheDash/following{/other_user}","gists_url":"https://api.github.com/users/TheDash/gists{/gist_id}","starred_url":"https://api.github.com/users/TheDash/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TheDash/subscriptions","organizations_url":"https://api.github.com/users/TheDash/orgs","repos_url":"https://api.github.com/users/TheDash/repos","events_url":"https://api.github.com/users/TheDash/events{/privacy}","received_events_url":"https://api.github.com/users/TheDash/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-05-16T22:17:05Z","updated_at":"2015-05-17T00:24:24Z","closed_at":null,"body":"Hi,\r\n\r\nI'm having issues with the moveit configuration of the UR5 arm. I'm using the UR5Kinematics plugin with joint_limited:=false. I've disabled most of the wrongful collisions inside the .srdf. The exact bug is this:\r\n\r\n[ INFO] [1431814422.286455475, 1541.596000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.\r\n[ WARN] [1431814422.287069467, 1541.596000000]: Execution of motions should always start at the robot's current state. Ignoring the state supplied as start state in the motion planning request\r\n[ INFO] [1431814422.287708228, 1541.596000000]: Planning attempt 1 of at most 1\r\n[ INFO] [1431814422.303430998, 1541.609000000]: No planner specified. Using default.\r\n[ INFO] [1431814422.310177234, 1541.613000000]: RRTConnect: Starting planning with 1 states already in datastructure\r\n[ INFO] [1431814422.310823778, 1541.613000000]: RRTConnect: Starting planning with 1 states already in datastructure\r\n[ INFO] [1431814422.312300436, 1541.613000000]: RRTConnect: Starting planning with 1 states already in datastructure\r\n[ INFO] [1431814422.327325438, 1541.624000000]: RRTConnect: Starting planning with 1 states already in datastructure\r\n[ INFO] [1431814427.305967893, 1544.174000000]: RRTConnect: Created 20 states (5 start + 15 goal)\r\n[ INFO] [1431814427.306715531, 1544.175000000]: RRTConnect: Created 22 states (9 start + 13 goal)\r\n[ INFO] [1431814427.314094332, 1544.178000000]: RRTConnect: Created 18 states (7 start + 11 goal)\r\n[ INFO] [1431814427.320291821, 1544.183000000]: RRTConnect: Created 20 states (7 start + 13 goal)\r\n[ WARN] [1431814427.320913289, 1544.183000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 5.013701 seconds\r\n[ INFO] [1431814427.321179017, 1544.183000000]: Unable to solve the planning problem\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/comments/102713510","html_url":"https://github.com/ros-industrial/universal_robot/issues/202#issuecomment-102713510","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/202","id":102713510,"user":{"login":"TheDash","id":1786601,"avatar_url":"https://avatars.githubusercontent.com/u/1786601?v=3","gravatar_id":"","url":"https://api.github.com/users/TheDash","html_url":"https://github.com/TheDash","followers_url":"https://api.github.com/users/TheDash/followers","following_url":"https://api.github.com/users/TheDash/following{/other_user}","gists_url":"https://api.github.com/users/TheDash/gists{/gist_id}","starred_url":"https://api.github.com/users/TheDash/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TheDash/subscriptions","organizations_url":"https://api.github.com/users/TheDash/orgs","repos_url":"https://api.github.com/users/TheDash/repos","events_url":"https://api.github.com/users/TheDash/events{/privacy}","received_events_url":"https://api.github.com/users/TheDash/received_events","type":"User","site_admin":false},"created_at":"2015-05-17T00:24:24Z","updated_at":"2015-05-17T00:24:24Z","body":"I've done some science regarding the limited parameters which are causing some major confusion. Although PR #184 claims to allow this to work with the unlimited setting, either I'm not having the proper version of the software (I have 1.1.5 debs), or something is wrong with my configuration, or there is a bug.\r\n\r\nI tried running the software with the URDF model having limited:=true and limited:=false. I also checked whether or not the limited:=true/false had an affect when used in the planning_execution script.\r\n\r\nMy arm was only able to plan with UR5KinematicsPlugin when limited:=true in the URDF instantiation of the arm model. However, I could not use the free form orb and it gave a purple color in RViz. I was only able to use the update function to move it into a plannable configuration. The ideal situation is to be able to use the orb to move it anywhere and have it plan fast anywhere.\r\n\r\nHere is the chart of science:\r\n\r\nURDFLimited  MoveGroup Limited    CanPlan   CanUseOrb\r\nfalse                     false                         No              Yes\r\ntrue                      false                          Yes            No\r\ntrue                      true                          Yes             No \r\nfalse                     true                          No              Yes\r\n\r\nThis lead me to conclude the movegroup limited button was having no affect as you can see from the chart. So I did indeed investigate and found out that the planning context was being used in my code, but in the ur5_moveit_config had it disabled by default. Turns out the Movegroup limited code was doing nothing anyway because load_robot_description is always set to false, and so I just removed it from my code.\r\n\r\nThat means the only conclusion can be that setting the limited arm model in URDF has all the influence of what's going on. Once upon a time I was able to plan freely with the orb and fast, but I'm not sure what happened. \r\n\r\n\r\n\r\n"}}