In the Unit 5, motion planning script from Python Fails

I did exactly what the guide was saying and when I run the python script it says “ABORTED: Catastrophic failure” and it does not do the planning in MoveIt RViz.

python motion_planning_program.py

[ INFO] [1683535580.227907356]: Loading robot model 'fetch'...
[ INFO] [1683535580.229167166]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1683535580.456389149, 1455.119000000]: No kinematics plugins defined. Fill and load kinematics.yaml!
[ INFO] [1683535581.605996963, 1456.090000000]: Ready to take commands for planning group arm.
[ WARN] [1683535581.620466683, 1456.100000000]: Fail: ABORTED: Catastrophic failure
[ WARN] [1683535583.707204574, 1457.842000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 1457.842000 according to authority unknown_publisher
[ WARN] [1683535584.128716689, 1458.199000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 1458.194000 according to authority unknown_publisher
[ WARN] [1683535585.745252700, 1459.531000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 1459.530000 according to authority unknown_publisher

Hello @antonio.pinera ,

As the Warning message says, it looks like you are not providing a Kinematics Plugin. This is probably because you didn’t fill it when creating the planning group for the arm:

Open the kinematics.yaml file inside the config folder of your MoveIt package and paste the following:

arm:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.005

This should solve the issue.

Yes, exactly. I rebuilt the MoveIt package adding the correct configuration and it worked. Thank you. Cheers

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