Use MoveXYZW to set goal but got error message

[maoyangchien]

I used the Point to Point to plan trajectory but it always throw Plain failed , my command is

ros2 action send_goal -f /Move ros2srrc_data/action/Move "{action: 'MoveXYZW', movexyzw: {x: 0.7853980007731769, y: -1.570788582328058, z: 1.5707964646142587, yaw: 0.00, pitch: 0.00, roll: 0.00}, speed: 1.0}"

I found there're an error message in console

[move_group-9] [INFO] [1692658495.763689947] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-9] [INFO] [1692658495.763697796] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-9] [INFO] [1692658495.763776024] [moveit.pilz_industrial_motion_planner.trajectory_generator_ptp]: Initialized Point-to-Point Trajectory Generator.
[move_group-9] [INFO] [1692658495.763795986] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating PTP trajectory...
[move_group-9] [ERROR] [1692658495.813873341] [moveit.pilz_industrial_motion_planner.trajectory_functions]: Unable to find IK solution.
[move_group-9] [ERROR] [1692658495.813902390] [moveit.pilz_industrial_motion_planner.trajectory_generator]: No IK solution for goal pose
[move_group-9] [INFO] [1692658495.813919642] [moveit_move_group_default_capabilities.move_action_capability]: Unknown event
[move-10] [INFO] [1692658495.814276558] [move_group_interface]: Planning request aborted
[move-10] [ERROR] [1692658495.863602203] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
[move-10] [INFO] [1692658495.863630966] [move]: ur10e - MoveXYZW: Planning failed!

Seems I need to setup IK ? where could set it ?

[maoyangchien]

I changed my goal , but I still got error

[gzserver-1] [WARN] [1692686044.135425269] [ur_controller]: Aborted due to state tolerance violation
[move_group-9] [WARN] [1692686044.150454670] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'ur_controller' failed with error PATH_TOLERANCE_VIOLATED: 
[move_group-9] [WARN] [1692686044.150538242] [moveit_ros.trajectory_execution_manager]: Controller handle ur_controller reports status ABORTED
[move_group-9] [INFO] [1692686044.150566790] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ...
[move_group-9] [INFO] [1692686044.150721608] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[move-10] [INFO] [1692686044.151111364] [move_group_interface]: Execute request aborted
[move-10] [ERROR] [1692686044.200107055] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
[move-10] [INFO] [1692686044.200164946] [move]: ur10e - MoveXYZW: Movement execution failed!

[maoyangchien]

I found this is my problem , You could close this issue , thank you very much

[cncowboy]

i got the same error message,could you tell me what problem did you make? thanks!

[cncowboy]

i got the same error message,could you tell me what problem did you make? thanks!