This error comes after launch moveit package demo.launch
[ WARN] [1686385140.855607848]: Fail: ABORTED: FAILURE
[ INFO] [1686385141.033518544]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1686385141.033795810]: Using planning pipeline 'ompl'
[ WARN] [1686385141.042220232]: Goal sampling thread never did any work. Space information not set up.
[ INFO] [1686385141.044761846]: Planner configuration 'arm[RRT]' will use planner 'geometric::RRT'. Additional configuration parameters will be set when the planner is constructed.
[ERROR] [1686385141.044913244]: OMPL encountered an error: The longest valid segment for state space arm_JointModel must be positive.
Space settings:
ModelBasedStateSpace 'arm_JointModel' at 0x7f75700037e0
please help me to solve a error ask for required file in comment.
URDF FILE
<?xml version="1.0" encoding="utf-8" ?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
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<robot name="OW_arm42v3">
<link name="world" />
<joint name="base_joint" type="fixed">
<parent link="world" />
<child link="base_link" />
<origin rpy="0 0 3.142" xyz="0.0 0.0 0.0" />
</joint>
<link name="base_link">
<inertial>
<origin xyz="3.8908E-17 0.04767 -7.8127E-06" rpy="0 0 0" />
<mass value="2.0171" />
<inertia ixx="0.005586" ixy="-1.0982E-17" ixz="1.3566E-18" iyy="0.0063123" iyz="-2.5055E-07" izz="0.0055872" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/base_link.STL" />
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="BS">
<inertial>
<origin xyz="-0.0380406710172112 0.0624222716437212 1.70200828973279E-07" rpy="0 0 0" />
<mass value="1.97190888064709" />
<inertia ixx="0.00429954770180157" ixy="0.00121409993044422" ixz="-2.33754900717327E-09" iyy="0.00586776056653254" iyz="-9.02195404940386E-10" izz="0.00632240174237383" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/BS.STL" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/BS.STL" />
</geometry>
</collision>
</link>
<joint name="BJ" type="revolute">
<origin xyz="0 0 0.1181" rpy="1.5708 0 0" />
<parent link="base_link" />
<child link="BS" />
<axis xyz="0 1 0" />
<limit lower="0" upper="2.1" effort="300" velocity="0" />
<safety_controller soft_upper="1.57" soft_lower="0" k_velocity="0" />
</joint>
<link name="BE">
<inertial>
<origin xyz="-0.0518944125106651 0.177875 -3.45259213411031E-19" rpy="0 0 0" />
<mass value="4.90664934838919" />
<inertia ixx="0.119166306829544" ixy="7.12832856210159E-20" ixz="1.41170367633891E-19" iyy="0.0103792262587238" iyz="-6.6483117914141E-19" izz="0.114829512620447" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/BE.STL" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/BE.STL" />
</geometry>
</collision>
</link>
<joint name="SJ" type="revolute">
<origin xyz="-0.1157 0.0775 0" rpy="0 0 0" />
<parent link="BS" />
<child link="BE" />
<axis xyz="1 0 0" />
<limit lower="0" upper="2.1" effort="300" velocity="0" />
<safety_controller soft_upper="1.57" soft_lower="0" k_velocity="0" />
</joint>
<link name="EW1">
<inertial>
<origin xyz="0.0709836520418711 0.00984606315843561 -3.12735130856287E-09" rpy="0 0 0" />
<mass value="1.70811121792676" />
<inertia ixx="0.003344964276941" ixy="-0.000815500724151719" ixz="-3.32971212844834E-10" iyy="0.00460394948553801" iyz="4.52826957155396E-10" izz="0.00490007893927466" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/EW1.STL" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/EW1.STL" />
</geometry>
</collision>
</link>
<joint name="EJ" type="revolute">
<origin xyz="0 0.35575 0" rpy="0 0 0" />
<parent link="BE" />
<child link="EW1" />
<axis xyz="1 0 0" />
<limit lower="0" upper="2.1" effort="300" velocity="0" />
<safety_controller soft_upper="2" soft_lower="0" k_velocity="0" />
</joint>
<link name="W12">
<inertial>
<origin xyz="0.0708307470038271 0.130740197026429 -3.09886790789175E-07" rpy="0 0 0" />
<mass value="2.15968468440729" />
<inertia ixx="0.0234261873003578" ixy="-0.00584229346606452" ixz="-4.32903230711196E-08" iyy="0.00623786733512577" iyz="-7.26337149502994E-08" izz="0.026052830309967" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/W12.STL" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/W12.STL" />
</geometry>
</collision>
</link>
<joint name="W1J" type="revolute">
<origin xyz="0.1157 0.07 0" rpy="0 0 0" />
<parent link="EW1" />
<child link="W12" />
<axis xyz="0 1 0" />
<limit lower="0" upper="2.1" effort="300" velocity="0" />
<safety_controller soft_upper="1.57" soft_lower="0" k_velocity="0" />
</joint>
<link name="W23">
<inertial>
<origin xyz="0.0103627029059784 0.00980076113119743 0.0597441688704256" rpy="0 0 0" />
<mass value="1.83510738804944" />
<inertia ixx="0.0071632177132756" ixy="0.000186368537764031" ixz="0.00118141035116698" iyy="0.00720216879798446" iyz="-0.0011338270543624" izz="0.00336114973585378" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/W23.STL" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/W23.STL" />
</geometry>
</collision>
</link>
<joint name="W2J" type="revolute">
<origin xyz="0 0.28575 0" rpy="0 0 0" />
<parent link="W12" />
<child link="W23" />
<axis xyz="1 0 0" />
<limit lower="0" upper="2.1" effort="300" velocity="0" />
<safety_controller soft_upper="2" soft_lower="0" k_velocity="0" />
</joint>
<link name="W3Eff">
<inertial>
<origin xyz="-2.13404352369339E-20 0.0313987811298326 -7.81553174110383E-06" rpy="0 0 0" />
<mass value="0.542656625657755" />
<inertia ixx="0.000548242650538083" ixy="4.09479362245092E-22" ixz="7.11795743081048E-23" iyy="0.000736884379592923" iyz="1.40387237136961E-07" izz="0.000548348712436984" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/W3Eff.STL" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://OW_arm42v3/meshes/W3Eff.STL" />
</geometry>
</collision>
</link>
<joint name="W3J" type="revolute">
<origin xyz="0 0.071 0.12" rpy="0 0 0" />
<parent link="W23" />
<child link="W3Eff" />
<axis xyz="0 1 0" />
<limit lower="0" upper="2.1" effort="300" velocity="0" />
<safety_controller soft_upper="3.13" soft_lower="0" k_velocity="0" />
</joint>
<transmission name="trans_BJ">
<type>transmission_interface/SimpleTransmission</type>
<joint name="BJ">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="BJ_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_SJ">
<type>transmission_interface/SimpleTransmission</type>
<joint name="SJ">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="SJ_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_EJ">
<type>transmission_interface/SimpleTransmission</type>
<joint name="EJ">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="EJ_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_W1J">
<type>transmission_interface/SimpleTransmission</type>
<joint name="W1J">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="W1J_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_W2J">
<type>transmission_interface/SimpleTransmission</type>
<joint name="W2J">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="W2J_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_W3J">
<type>transmission_interface/SimpleTransmission</type>
<joint name="W3J">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="W3J_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
<gazebo reference="BS">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="BE">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="EW1">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="W12">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="W23">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="W3Eff">
<selfCollide>true</selfCollide>
</gazebo>
</robot>
