Open patrickKXMD opened 7 months ago
@patrickKXMD could you test if https://github.com/ros-planning/moveit2/pull/2625 fixes this issue for you?
@patrickKXMD could you test if #2625 fixes this issue for you?
Hi @henningkayser Your commit conflicts with tags/2.8.0 so I shall test this on main branch of moveit2.
But the stomp planner always failed to plan in allowed time (which is 10 seconds) for my case on the latest main branch and I'm still investigating...
TEST Goal position: 1.560993985891, 0.992730570867, -2.384225161300, -0.235366751959, -1.580596014100, -0.000002689587 TEST Last waypoint: 1.561182962212, 0.993394494560, -2.384768087164, -0.235530850700, -1.580864178244, 0.000388942661 TEST Goal position: 0.234587246836, 0.992731932008, -2.384229104531, -0.235384185478, -2.907002753126, -0.000018023283 TEST Last waypoint: 0.234587246836, 0.992731932008, -2.384229104531, -0.235384185478, -2.907002753126, -0.000018023283 TEST Goal position: 0.975131363602, 0.760374503146, -0.912535765952, 1.468677947059, -2.166458636384, -0.000005143243 TEST Last waypoint: 0.974491463725, 0.760383713959, -0.912977762658, 1.468600399367, -2.166632856705, 0.000251513712
@henningkayser look like it's not fixed, sometimes the goal and last waypoint is not identical
This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.
I too have the same problem, both starting and goal states can differ greatly from those specified in the MotionPlanRequest, even when planning trivial paths without collisions. I am using ROS2 Humble and the latest STOMP planner MoveIt implementation (2.10.0)
Description
this is a really annoying problem, the last waypoint from STOMP solution doesn't always match the
goal_state
I added four lines here for debug https://github.com/ros-planning/moveit2/blob/c2292a7054904c25851b6af78abb6aca8a5852ae/moveit_planners/stomp/src/stomp_moveit_planning_context.cpp#L68C1-L71C4
and here is the output
sometimes they are identical which is good.
sometimes they are different
I don't know why this happen but it's really annoying
Your environment
Steps to reproduce
Using STOMP planner and plan for some specific joint values
Expected behaviour
The last waypoint should be identical with the goal_state
Backtrace or Console output
Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.