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sikang / mpl_ros

A ROS wrapper for trajectory planning based on motion primitives
Apache License 2.0
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"Cannot find a traj" in Example 4 #7

Open Randy-F opened 6 years ago

Randy-F commented 6 years ago

Hi !

I tried running example 4 (plan in SE(3) with ellispoid model) with original .launch files and the result shows [MPPlanner] Cannot find a traj! [WARN] [1533132548.397945260]: Failed! Takes 0.000197 sec for planning, expand [0] nodes To test whether I set up the map correctly, I tried using other maps under the "mpl_ros/mpl_test_node/maps" folder, or set the starting point and the goal point closer and there are no obstacles in between, but the problem is not solved. I would like to ask if there is any parameter in test.launch, or other issues that I should notice to generate correct trajectory?

Thanks !

sikang commented 6 years ago

Hi,

You can comment out the function called "setTmax", it causes issue that the planner will abort immediately if the t_max is smaller than 0. I've pushed that the latest commit that solves this bug. Thanks for reporting:)

Sikang

On Wed, Aug 1, 2018 at 10:35 AM, Randy-F notifications@github.com wrote:

Hi !

I tried running example 4 (plan in SE(3) with ellispoid model) with original .launch files and the result shows [MPPlanner] Cannot find a traj! [WARN] [1533132548.397945260]: Failed! Takes 0.000197 sec for planning, expand [0] nodes To test if there is a problem with the map, I tried using other maps under the "mpl_ros/mpl_test_node/maps" folder, or set the starting point and the goal point closer and there are no obstacles in between, but the problem is not solved. I would like to ask if there is any parameter in test.launch, or other issues that I should notice to generate correct trajectory?

Thanks !

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Randy-F commented 6 years ago

Thanks, problem solved!