run below code
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <moveit/move_group_interface/move_group_interface.h>
int main(int argc, char* argv[])
{
// Initialize ROS and create the Node
rclcpp::init(argc, argv);
auto const node = std::make_shared<rclcpp::Node>(
"hello_moveit", rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true));
// Create a ROS logger
auto const logger = rclcpp::get_logger("hello_moveit");
// Create the MoveIt MoveGroup Interface
using moveit::planning_interface::MoveGroupInterface;
auto move_group_interface = MoveGroupInterface(node, "manipulator");
// Set a target Pose
auto const target_pose = [] {
geometry_msgs::msg::Pose msg;
msg.orientation.w = 1.0;
msg.position.x = 0.28;
msg.position.y = -0.2;
msg.position.z = 0.5;
return msg;
}();
move_group_interface.setPoseTarget(target_pose);
// Create a plan to that target pose
auto const [success, plan] = [&move_group_interface] {
moveit::planning_interface::MoveGroupInterface::Plan msg;
auto const ok = static_cast<bool>(move_group_interface.plan(msg));
return std::make_pair(ok, msg);
}();
// Execute the plan
if (success)
{
move_group_interface.execute(plan);
}
else
{
RCLCPP_ERROR(logger, "Planning failed!");
}
// Shutdown ROS
rclcpp::shutdown();
return 0;
}
one error:
[ERROR] [1725363546.058879141] [cumotion_action_server]: Link name for Target Pose “ee_link” and Planning frame “link_6” do not match, relaunch node with tool_frame = ee_link
the other error:
[INFO] [1725363682.281582560] [cumotion_action_server]: Using goal from Pose
[ERROR] [curobo] Steps max is less than 0
NoneType: None
[ERROR] [1725363683.994303857] [cumotion_action_server]: Error raised in execute callback: Steps max is less than 0
Traceback (most recent call last):
File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/action/server.py”, line 333, in _execute_goal
execute_result = await await_or_execute(execute_callback, goal_handle)
File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 107, in await_or_execute
return callback(*args)
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/isaac_ros_cumotion/lib/python3.10/site-packages/isaac_ros_cumotion/cumotion_planner.py”, line 617, in execute_callback
motion_gen_result = self.motion_gen.plan_single(
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/motion_gen.py”, line 1477, in plan_single
result = self._plan_attempts(
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/motion_gen.py”, line 2898, in _plan_attempts
result = self._plan_from_solve_state(
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/motion_gen.py”, line 3351, in _plan_from_solve_state
traj_result = self._solve_trajopt_from_solve_state(
File “/usr/lib/python3.10/contextlib.py”, line 79, in inner
return func(*args, **kwds)
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/motion_gen.py”, line 2720, in _solve_trajopt_from_solve_state
traj_result = trajopt_instance.solve_any(
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/trajopt.py”, line 777, in solve_any
return self.solve_single(
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/trajopt.py”, line 950, in solve_single
return self._solve_from_solve_state(
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/trajopt.py”, line 892, in _solve_from_solve_state
traj_result = self._get_result(
File “/usr/lib/python3.10/contextlib.py”, line 79, in inner
return func(*args, **kwds)
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/trajopt.py”, line 1297, in _get_result
interpolated_trajs, last_tstep, opt_dt = self.get_interpolated_trajectory(result.action)
File “/usr/lib/python3.10/contextlib.py”, line 79, in inner
return func(*args, **kwds)
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/wrap/reacher/trajopt.py”, line 1697, in get_interpolated_trajectory
state, last_tstep, opt_dt = get_batch_interpolated_trajectory(
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/util/trajectory.py”, line 163, in get_batch_interpolated_trajectory
log_error(“Steps max is less than 0”)
File “/ROS2/IsaacSim-ros_workspaces/humble_ws/install/curobo_core/lib/python3.10/site-packages/curobo/util/logger.py”, line 103, in log_error
raise ValueError(txt)
ValueError: Steps max is less than 0