Fail: ABORTED: No motion plan found. No execution attempted

Question

I have used moveit api but with function "group.setPoseTarget(pose1)" it give " Fail: ABORTED: No motion plan found. No execution attempted" and at terminal of rviz it give

[ INFO] [1469775045.492605776]: LBKPIECE1: Created 1 (1 start + 0 goal) states in 1 cells (1 start (1 on boundary) + 0 goal (0 on boundary))

[ INFO] [1469775045.492659516]: No solution found after 5.050528 seconds [ INFO] [1469775045.528370905]: Unable to solve the planning problem [ INFO] [1469775050.530937767]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1469775051.139609983]: Planning attempt 1 of at most 1 [ INFO] [1469775051.169520219]: LBKPIECE1: Starting planning with 1 states already in datastructure [ERROR] [1469775056.175594376]: LBKPIECE1: Unable to sample any valid states for goal tree [ INFO] [1469775056.175806507]: LBKPIECE1: Created 1 (1 start + 0 goal) states in 1 cells (1 start (1 on boundary) + 0 goal (0 on boundary)) [ INFO] [1469775056.175905203]: No solution found after 5.006600 seconds [ INFO] [1469775056.185580711]: Unable to solve the planning problem

can any one tell me how to solve this problem?

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Originally posted by FaredEtman on ROS Answers with karma: 1 on 2016-07-30

Post score: 0

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Original comments

Comment by bhavyadoshi26 on 2016-12-21:
Have you solved it?

Comment by zichenxiaoxu on 2019-02-20:
Do you solve this problem? I have the same error, but I don't know how to solve it

Answer 1

This can have several causes.

• pose1 might simply be unreachable by the arm -> use a pose of which you know that it is reachable
• pose1 is reachable but the inverse kinematics plugin failed to find a joint configuration that results in the end-effector being near that pose -> use a different IK or different parameters (trac_ik or a specialized ikfast perform good)
• The planner failed to find a path to the goal -> is there a path by which you can move from the current configuration to the goal configuration (within the specified software limits)
• if there are paths the planner should be able to find, you might want to try a different planner -> e.g. group.setPlannerId("RRTConnectkConfigDefault")
• the planner might find the path with more time available -> group.setPlanningTime(<insert-time-limit-here>)

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Originally posted by v4hn with karma: 2950 on 2016-12-21

This answer was ACCEPTED on the original site

Post score: 10

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Original comments

Comment by tengfei on 2017-12-02:
Hi, I have a question that before I set the pose goal, how can I know whether the pgose goal is reachable? Is there any funtion in moveit to solve this problem?

Comment by nmelchert on 2018-09-10:
Is there a Python functionality for that?

Comment by RobertZickler on 2021-07-08:
@tengfei and @nmelchert have a look at this answer

So in short:

plan = group.plan()
if not plan.joint_trajectory.points:
    # Error