The MTC pick and place demo in the moveit2_tutorials is broken with the following error message:
[pick_place_demo-1] [WARN] [1680007103.217881120] [moveit_ros.add_time_optimal_parameterization]: Time parametrization for the solution path failed.
[pick_place_demo-1] [INFO] [1680007103.219394083] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [ERROR] [1680007103.246561612] [moveit_trajectory_processing.time_optimal_trajectory_generation]: No acceleration limit was defined for joint panda_finger_joint1! You have to define acceleration limits in the URDF or joint_limits.yaml
[pick_place_demo-1] [WARN] [1680007103.246569417] [moveit_ros.add_time_optimal_parameterization]: Time parametrization for the solution path failed.
[pick_place_demo-1] [INFO] [1680007103.248153685] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [ERROR] [1680007103.275264136] [moveit_trajectory_processing.time_optimal_trajectory_generation]: No acceleration limit was defined for joint panda_finger_joint1! You have to define acceleration limits in the URDF or joint_limits.yaml
[pick_place_demo-1] [WARN] [1680007103.275270829] [moveit_ros.add_time_optimal_parameterization]: Time parametrization for the solution path failed.
[pick_place_demo-1] [INFO] [1680007103.278590133] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [ERROR] [1680007103.304140281] [moveit_trajectory_processing.time_optimal_trajectory_generation]: No acceleration limit was defined for joint panda_finger_joint1! You have to define acceleration limits in the URDF or joint_limits.yaml
[pick_place_demo-1] [WARN] [1680007103.304148176] [moveit_ros.add_time_optimal_parameterization]: Time parametrization for the solution path failed.
[pick_place_demo-1] [INFO] [1680007103.315600044] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [ERROR] [1680007103.343903137] [moveit_trajectory_processing.time_optimal_trajectory_generation]: No acceleration limit was defined for joint panda_finger_joint1! You have to define acceleration limits in the URDF or joint_limits.yaml
[pick_place_demo-1] [WARN] [1680007103.343909669] [moveit_ros.add_time_optimal_parameterization]: Time parametrization for the solution path failed.
[pick_place_demo-1] [INFO] [1680007103.345764513] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[pick_place_demo-1] [ERROR] [1680007103.374110297] [moveit_trajectory_processing.time_optimal_trajectory_generation]: No acceleration limit was defined for joint panda_finger_joint1! You have to define acceleration limits in the URDF or joint_limits.yaml
This happens because of https://github.com/ros-planning/moveit2/commit/937be8eba7bf0df3a3a59d99a71f68029239ef4e where the existence of acceleration limits is made mandatory if you want to apply TOTG to a trajectory (otherwise the algorithm does not work properly). This PR enables the limits for the panda hand with the default values that were previously used if no acceleration limits existed.
The MTC pick and place demo in the moveit2_tutorials is broken with the following error message:
This happens because of https://github.com/ros-planning/moveit2/commit/937be8eba7bf0df3a3a59d99a71f68029239ef4e where the existence of acceleration limits is made mandatory if you want to apply TOTG to a trajectory (otherwise the algorithm does not work properly). This PR enables the limits for the panda hand with the default values that were previously used if no acceleration limits existed.