Moveit Commander Plan Fail

Question

I'm using rospy and moveit_commander to control a robot. It works wonderfully, except I cannot find a way in the API to handle a path planning failure. The MoveGroupCommander.plan() method does not seem to expose any value that indicates failure in python. Is there something I'm missing?

Thanks

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Originally posted by rklutz on ROS Answers with karma: 17 on 2019-11-26

Post score: 0

Answer 1

If the plan fails, the RobotTrajectory is empty, so you can check it as described here:

plan = move_group.plan()
if plan.joint_trajectory.points:  # True if trajectory contains points
  move_success = move_group.execute(plan)
else:
  rospy.logerr("Trajectory is empty. Planning was unsuccessful.")

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Originally posted by fvd with karma: 2180 on 2020-02-29

This answer was ACCEPTED on the original site

Post score: 3