I am trying to control the stretch robot in gazebo using moveit c++ interface. However the IK fails to find any goal positions from the start to goal when using the moveit c++ interface. When i send commands via rviz any goal position is achieved. The error I get is as follows:
[ WARN] [1661909681.434391358, 2306.008000000]: Fail: ABORTED: No motion plan found. No execution attempted. [ INFO] [1661909681.434506353, 2306.008000000]: Visualizing plan 1 (pose goal) FAILED [ INFO] [1661909686.466198011, 2307.533000000]: ABORTED: No motion plan found. No execution attempted.
[ WARN] [1661909681.446695963, 2306.011000000]: Unable to transform object from frame 'map' to planning frame 'base_link' (Could not find a connection between 'base_link' and 'map' because they are not part of the same tree.Tf has two or more unconnected trees.) [ INFO] [1661909681.446839722, 2306.011000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1661909681.447224877, 2306.011000000]: Planning attempt 1 of at most 1 [ INFO] [1661909681.447366232, 2306.011000000]: Starting state is just outside bounds (joint 'joint_arm_l3'). Assuming within bounds. [ INFO] [1661909681.447418610, 2306.011000000]: Starting state is just outside bounds (joint 'joint_arm_l2'). Assuming within bounds. [ INFO] [1661909681.447469916, 2306.011000000]: Starting state is just outside bounds (joint 'joint_arm_l1'). Assuming within bounds. [ INFO] [1661909681.449398610, 2306.011000000]: Planner configuration 'stretch_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [ INFO] [1661909681.449707680, 2306.011000000]: stretch_arm/stretch_arm: Starting planning with 1 states already in datastructure [ERROR] [1661909686.450354799, 2307.528000000]: stretch_arm/stretch_arm: Unable to sample any valid states for goal tree [ INFO] [1661909686.450476116, 2307.528000000]: stretch_arm/stretch_arm: Created 1 states (1 start + 0 goal) [ INFO] [1661909686.450504620, 2307.528000000]: No solution found after 5.000941 seconds [ INFO] [1661909686.463289628, 2307.532000000]: Unable to solve the planning problem
I am able to control the joints from my c++ file when I set joint target goals instead of target pose goals. This seems to be a case with the IK not working with stretch effectively. Any help in setting this up will be useful.