With the same exact process running, checking out panda_moveit_config 0.7.1 runs fine but the current kinetic-devel gives erratic behaviour and this diff in the output (I tried to keep it as short as possible:
--- /home/ap/Desktop/kinetic-devel
+++ /home/ap/Desktop/0.7.1
@@ -187,6 +187,7 @@
* /position_joint_trajectory_controller/type: position_controll...
* /robot_description: <?xml version="1....
* /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
+ * /robot_description_kinematics/panda_arm/kinematics_solver_attempts: 5
* /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.001
* /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
* /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
@@ -229,6 +230,7 @@
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /rviz_ap_NUC7i7DNKE_15599_3838872138042140295/panda_arm/kinematics_solver: kdl_kinematics_pl...
+ * /rviz_ap_NUC7i7DNKE_15599_3838872138042140295/panda_arm/kinematics_solver_attempts: 5
* /rviz_ap_NUC7i7DNKE_15599_3838872138042140295/panda_arm/kinematics_solver_search_resolution: 0.001
* /rviz_ap_NUC7i7DNKE_15599_3838872138042140295/panda_arm/kinematics_solver_timeout: 0.05
@@ -288,13 +290,12 @@
[ INFO] - [/move_group::PlanningSceneMonitor::startWorldGeometryMonitor::1025]: Starting world geometry monitor
[ INFO] - [/move_group::PlanningSceneMonitor::startWorldGeometryMonitor::1041]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] - [/move_group::PlanningSceneMonitor::startWorldGeometryMonitor::1056]: Listening to '/planning_scene_world' for planning scene world geometry
-[ INFO] - [/move_group::PointCloudOctomapUpdater::start::114]: Listening to '/camera/depth_registered/points' using message filter with target frame '/world '
+[ INFO] - [/move_group::PointCloudOctomapUpdater::start::114]: Listening to '/camera/depth_registered/points' using message filter with target frame '/panda_link0 '
[INFO] - [/controller_spawner::main::192]: Controller Spawner: Loaded controllers: position_joint_trajectory_controller
[ INFO] - [/move_group::PlanningSceneMonitor::startStateMonitor::1118]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] - [/franka_control::FrankaHW::prepareSwitch::371]: FrankaHW: Prepared switching controllers to joint_position with parameters limit_rate=1, cutoff_frequency=100, internal_controller=joint_impedance
[INFO] - [/controller_spawner::main::201]: Started controllers: position_joint_trajectory_controller
-[ERROR] - [/franka_control::main::206]: libfranka: Move command rejected: command not possible in the current mode!
[ INFO] - [/move_group::OMPLInterface::OMPLInterface::55]: Initializing OMPL interface using ROS parameters
[ INFO] - [/move_group::PlanningPipeline::configure::119]: Using planning interface 'OMPL'
[ INFO] - [/move_group::FixWorkspaceBounds::FixWorkspaceBounds::53]: Param 'default_workspace_bounds' was not set. Using default value: 10
@@ -308,7 +309,6 @@
[ INFO] - [/move_group::PlanningPipeline::configure::163]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] - [/move_group::PlanningPipeline::configure::163]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] - [/move_group::PlanningPipeline::configure::163]: Using planning request adapter 'Fix Start State Path Constraints'
-[ WARN] - [/move_group::CurrentStateMonitor::tfCallback::441]: Unable to update multi-DOF joint 'virtual_joint': TF has no common time between '/world' and 'panda_link0':
[ INFO] - [/franka_control::<lambda::131]: Recovered from error
[ INFO] - [/move_group::MoveItSimpleControllerManager::MoveItSimpleControllerManager::145]: Added FollowJointTrajectory controller for position_joint_trajectory_controller
[ INFO] - [/rviz_ap_NUC7i7DNKE_15599_3838872138042140295::RenderWindow* rviz::RenderSystem::makeRenderWindow::441]: Stereo is NOT SUPPORTED
@@ -352,7 +352,6 @@
[ INFO] - [/process_manager::core::RobotModel::buildModel::93]: Loading robot model 'panda'...
[ INFO] - [/process_manager::core::RobotModel::buildModel::93]: Loading robot model 'panda'...
-[ WARN] - [/move_group::PlanningSceneMonitor::updateSceneWithCurrentState::1255]: The complete state of the robot is not yet known. Missing virtual_joint
[ INFO] - [/process_manager::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::MoveGroupInterfaceImpl::178]: Ready to take commands for planning group panda_arm.
[ INFO] - [/process_manager::Panda::Panda::403]: Waiting for a subscriber on topic /world_to_panda_link0.
[ INFO] - [/static_transform_aggregator::StaticTransformAggregator::sendAllTransforms_::98]: Currently static broadcasting:
@@ -376,12 +375,12 @@
[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 5 states (2 start + 3 goal)
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 4 states (2 start + 2 goal)
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 5 states (2 start + 3 goal)
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 5 states (2 start + 3 goal)
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::129]: ParallelPlan::solve(): Solution found by one or more threads in 0.013718 seconds
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: SimpleSetup: Path simplification took 0.005437 seconds and changed from 3 to 2 states
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 4 states (2 start + 2 goal)
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 4 states (2 start + 2 goal)
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 4 states (2 start + 2 goal)
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 4 states (2 start + 2 goal)
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::129]: ParallelPlan::solve(): Solution found by one or more threads in 0.012583 seconds
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: SimpleSetup: Path simplification took 0.004107 seconds and changed from 3 to 2 states
[ INFO] - [/process_manager::planning_interface::MoveGroupInterface::Plan cobotica::Panda::createValidPlan_::1134]: Visualizing plan for current target.
[ INFO] - [/move_group::MoveGroupExecuteTrajectoryAction::executePath::94]: Execution request received
[rostopic-12] process has finished cleanly
@@ -419,60 +418,24 @@
[ INFO] - [/process_manager::updateTf::42]: Updated world->lightbulb_base transform.
[ INFO] - [/process_manager::CodedScene::addObjectToPlanningScene_::107]: Added lamp_1 to the planning scene.
[ INFO] - [/move_group::MoveGroupMoveAction::executeMoveCallback_PlanOnly::163]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
-[ WARN] - [/move_group::JointConstraint::configure::179]: Joint panda_joint2 is constrained to be above the maximum bounds. Assuming maximum bounds instead.
-[ WARN] - [/move_group::JointConstraint::configure::179]: Joint panda_joint4 is constrained to be above the maximum bounds. Assuming maximum bounds instead.
-[ WARN] - [/move_group::JointConstraint::configure::179]: Joint panda_joint2 is constrained to be above the maximum bounds. Assuming maximum bounds instead.
-[ WARN] - [/move_group::JointConstraint::configure::179]: Joint panda_joint4 is constrained to be above the maximum bounds. Assuming maximum bounds instead.
[ INFO] - [/move_group::ModelBasedPlanningContext::useConfig::335]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
-[ WARN] - [/move_group::ConstrainedGoalSampler::sampleUsingConstraintSampler::139]: More than 80% of the sampled goal states fail to satisfy the constraints imposed on the goal sampler. Is the constrained sampler working correctly?
-[ INFO] - [/move_group::ConstraintEvaluationResult kinematic_constraints::JointConstraint::decide::236]: Constraint satisfied:: Joint name: 'panda_joint1', actual value: 0.000001, desired value: 0.000000, tolerance_above: 0.000100, tolerance_below: 0.000100
-[ INFO] - [/move_group::ConstraintEvaluationResult kinematic_constraints::JointConstraint::decide::236]: Constraint satisfied:: Joint name: 'panda_joint2', actual value: 1.570700, desired value: 1.570700, tolerance_above: 0.000100, tolerance_below: 0.000000
-[ INFO] - [/move_group::ConstraintEvaluationResult kinematic_constraints::JointConstraint::decide::236]: Constraint satisfied:: Joint name: 'panda_joint3', actual value: 0.000011, desired value: 0.000000, tolerance_above: 0.000100, tolerance_below: 0.000100
-[ INFO] - [/move_group::ConstraintEvaluationResult kinematic_constraints::JointConstraint::decide::236]: Constraint satisfied:: Joint name: 'panda_joint4', actual value: -0.069800, desired value: -0.069800, tolerance_above: 0.000100, tolerance_below: 0.000000
-[ INFO] - [/move_group::ConstraintEvaluationResult kinematic_constraints::JointConstraint::decide::236]: Constraint violated:: Joint name: 'panda_joint5', actual value: -2.228626, desired value: -nan, tolerance_above: 0.000100, tolerance_below: 0.000100
-[ INFO] - [/move_group::ConstraintEvaluationResult kinematic_constraints::JointConstraint::decide::236]: Constraint satisfied:: Joint name: 'panda_joint6', actual value: -0.000074, desired value: 0.000000, tolerance_above: 0.000100, tolerance_below: 0.000100
-[ INFO] - [/move_group::ConstraintEvaluationResult kinematic_constraints::JointConstraint::decide::236]: Constraint satisfied:: Joint name: 'panda_joint7', actual value: -0.000034, desired value: 0.000000, tolerance_above: 0.000100, tolerance_below: 0.000100
-[ERROR] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::215]: RRTConnect: Unable to sample any valid states for goal tree
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 1 states (1 start + 0 goal)
-[ERROR] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::215]: RRTConnect: Unable to sample any valid states for goal tree
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 1 states (1 start + 0 goal)
-[ERROR] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::215]: RRTConnect: Unable to sample any valid states for goal tree
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 1 states (1 start + 0 goal)
-[ERROR] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::215]: RRTConnect: Unable to sample any valid states for goal tree
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 1 states (1 start + 0 goal)
-[ WARN] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::131]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.020978 seconds
-[ INFO] - [/move_group::ModelBasedPlanningContext::solve::593]: Unable to solve the planning problem
-[ WARN] - [/process_manager::planning_interface::MoveItErrorCode moveit::planning_interface::MoveGroupInterface::MoveGroupInterfaceImpl::plan::840]: Fail: ABORTED: No motion plan found. No execution attempted.
-[ INFO] - [/process_manager::planning_interface::MoveGroupInterface::Plan cobotica::Panda::createValidPlan_::1134]: Visualizing plan for current target: FAILED
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 4 states (2 start + 2 goal)
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 4 states (2 start + 2 goal)
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 4 states (2 start + 2 goal)
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 5 states (2 start + 3 goal)
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::129]: ParallelPlan::solve(): Solution found by one or more threads in 0.022040 seconds
+[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: SimpleSetup: Path simplification took 0.005353 seconds and changed from 3 to 2 states
+[ INFO] - [/process_manager::planning_interface::MoveGroupInterface::Plan cobotica::Panda::createValidPlan_::1134]: Visualizing plan for current target.
[ INFO] - [/move_group::MoveGroupExecuteTrajectoryAction::executePath::94]: Execution request received
[ INFO] - [/move_group::TrajectoryExecutionManager::executeThread::1304]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] - [/move_group::MoveGroupExecuteTrajectoryAction::executePath::118]: Execution completed: SUCCEEDED
[ INFO] - [/process_manager::Panda::moveInternal_::1106]: Executing plan for current target.
[ INFO] - [/move_group::MoveGroupMoveAction::executeMoveCallback_PlanOnly::163]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
-[ INFO] - [/move_group::FixStartStatePathConstraints::adaptAndPlan::73]: Path constraints not satisfied for start state...
-[ INFO] - [/move_group::ConstraintEvaluationResult kinematic_constraints::OrientationConstraint::decide::627]: Orientation constraint violated for link 'panda_link8'. Quaternion desired: 0.746576 -0.309240 0.544224 -0.225424, quaternion actual: 0.923960 -0.382490 0.000037 0.000034, error: x=1.144130, y=0.738413, z=0.488842, tolerance: x=0.001000, y=0.001000, z=3.142000
-[ INFO] - [/move_group::FixStartStatePathConstraints::adaptAndPlan::75]: Planning to path constraints...
-[ INFO] - [/move_group::ModelBasedPlanningContext::useConfig::335]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: RRTConnect: Starting planning with 1 states already in datastructure
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 5 states (2 start + 3 goal)
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 6 states (2 start + 4 goal)
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 5 states (2 start + 3 goal)
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::292]: RRTConnect: Created 5 states (3 start + 2 goal)
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::129]: ParallelPlan::solve(): Solution found by one or more threads in 0.063474 seconds
-[ INFO] - [/move_group::OMPLPlannerManager::OMPLPlannerManager::185]: SimpleSetup: Path simplification took 0.002666 seconds and changed from 3 to 2 states
-[ INFO] - [/move_group::FixStartStatePathConstraints::adaptAndPlan::92]: Planned to path constraints. Resuming original planning request.
[ INFO] - [/move_group::core::RobotModel::buildModel::93]: Loading robot model 'panda'...
-[ WARN] - [/move_group::JointConstraint::configure::179]: Joint panda_joint2 is constrained to be above the maximum bounds. Assuming maximum bounds instead.
-[ WARN] - [/move_group::JointConstraint::configure::179]: Joint panda_joint4 is constrained to be above the maximum bounds. Assuming maximum bounds instead.
-[ WARN] - [/move_group::JointConstraint::configure::179]: Joint panda_joint2 is constrained to be above the maximum bounds. Assuming maximum bounds instead.
-[ WARN] - [/move_group::JointConstraint::configure::179]: Joint panda_joint4 is constrained to be above the maximum bounds. Assuming maximum bounds instead.
[ INFO] - [/move_group::ModelBasedPlanningContext::useConfig::335]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] - [/move_group::base::StateSamplerPtr ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler::200]: panda_arm: Allocating specialized state sampler for state space
[ INFO] - [/move_group::base::StateSamplerPtr ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler::200]: panda_arm: Allocating specialized state sampler for state space
Basically what I see is kinetic-devel giving many more collision states and joint constraint violations without any physical differences between the two plannings.
[ WARN] - [/move_group::CurrentStateMonitor::tfCallback::441]: Unable to update multi-DOF joint 'virtual_joint': TF has no common time between '/world' and 'panda_link0':
[ WARN] - [/move_group::PlanningSceneMonitor::updateSceneWithCurrentState::1255]: The complete state of the robot is not yet known. Missing virtual_joint
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