I am spawning the robot and the scenario through the .xacro file while launching ‘move_group’ node. I am able to visualize the robot and scene in the Rviz window.
When i start Planning using ‘OMPL’, the planner detects the scene(in this case bookshelf) as an obstacle and plans accordingly
When i use ‘cumotion’ to do the planning, the planning happens without considering the bookshelf. When this plan is sent back to ‘move_group’, there is an error: collision detected between the robot and the bookshelf.
this is how i run my cumotion planner node from CLI: ‘ros2 run isaac_ros_cumotion cumotion_planner_node --ros-args -p robot:=franka.xrdf -p urdf_path:=/opt/ros/humble/share/moveit_resources_panda_description/urdf/panda.urdf’
I thought the problem was arising because i did not update the urdf file that includes the bookshelf too, during the launch of ‘cumotion planner node’. So i updated the urdf file by combining both the urdf using a CLI. Even now with the updated urdf, the error is the same
Please let me know how to proceed with this error.
this is the error logged in the Move_group terminal:
[move_group-5] [INFO] [1727707475.385485721] [moveit_collision_detection_fcl.collision_common]: Found a contact between ‘bookshelf_top’ (type ‘Robot link’) and ‘panda_hand’ (type ‘Robot link’), which constitutes a collision. Contact information is not stored.
[move_group-5] [INFO] [1727707475.385610928] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was found but it seems to be invalid (possibly due to postprocessing). Not executing.
[rviz2-1] [INFO] [1727707475.385789082] [move_group_interface]: Planning request aborted
[rviz2-1] [ERROR] [1727707475.386361721] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached