Description

I'm using ROS Noetic and moveit commander (move group python interface) with pose targets (using set_pose_target). In most of the time MoveIt is not able to plan any path (see below), and when it does it's a very strange solution. With my same application I had no issues with ROS Melodic, but the issue can be reproduced easily on ROS Noetic using the simulation or the real robot.

[ INFO] [1621454575.663979800, 95.245000000]: Planning attempt 1 of at most 1
[ INFO] [1621454575.666822400, 95.248000000]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1621454575.667156900, 95.248000000]: manipulator/manipulator: Starting planning with 1 states already in datastructure
[ERROR] [1621454580.672333000, 99.602000000]: manipulator/manipulator: Unable to sample any valid states for goal tree
[ INFO] [1621454580.672491800, 99.602000000]: manipulator/manipulator: Created 1 states (1 start + 0 goal)
[ INFO] [1621454580.672859000, 99.602000000]: No solution found after 5.005736 seconds
[ INFO] [1621454580.683008900, 99.607000000]: Unable to solve the planning problem
[ INFO] [1621454580.685616400, 99.609000000]: Received event 'stop'

This issue was originally reported at universal_robot and it was suggested to report it here instead.

First I thought it's an issue with my own application above moveit commander, so I created a very simple vanila test environtment, but the issue still exists without any modification on the original packages! Here are the steps to reproduce:

1. git clone -b calibration_devel-staging https://github.com/fmauch/universal_robot
2. Change arm_controller to pos_joint_traj_controller in ur3e_moveit_planning_execution.launch
3. Launch the following launchfiles:

• roslaunch ur_gazebo ur3e_bringup.launch limited:=true
• roslaunch ur3e_moveit_config ur3e_moveit_planning_execution.launch sim:=true limited:=true

4. Run my example code that can be found here.

Your environment

• ROS Distro: Noetic
• OS Version: Ubuntu 20.04
• Binary build installed with apt install (ros-noetic-moveit/focal,now 1.1.2-1focal.20210424.071603 amd64 [installed])
• Built from source, master branch (commit b2b7e6d)
• IK solver: KDL

Steps to reproduce

See above

Expected behaviour

MoveIt should be able to plan trajectories to pose targets

Actual behaviour

MoveIt isn't able to plan any path or when it does it looks strange

Backtrace or Console output

See above