UBUNTU : 18.04
ROS VERSION MELODIC
Hi! , im works with and 4 DOF arm , and i have a lot of problems when i was trying to set it at desired position ,
My problems occurss when i try to use the below function :
setPoseTarget (const geometry_msgs::Pose &target, const std::string &end_effector_link="")
setPositionTarget (double x, double y, double z, const std::string &end_effector_link="")
setRPYTarget (double roll, double pitch, double yaw, const std::string &end_effector_link="")
The only function that movesmy arm is :
setApproximateJointValueTarget (const geometry_msgs::Pose &eef_pose, const std::string &end_effector_link="")
i have tried a lot of things to do, i cant found the error, MOVE-IT works fine with its interface, but it give me errors when im traying to move the robot with the C++ API.
I dont know if its about my robot configuration o something like that ,
This is my URDF file : 4 DOF ARM URDF
and the SRDF file : 4 DOF ARM SRDF
and the code :
#include <ros/ros.h>
//MOVE IT
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_msgs/DisplayRobotState.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_state/robot_state.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
ros::Publisher display_publisher;
int main(int argc, char **argv)
{
ros::init(argc, argv, "custom_planning");
ros::NodeHandle nh;
ros::AsyncSpinner spinner(1);
spinner.start();
sleep(2.0);
//planning group that we would like to control
moveit::planning_interface::MoveGroupInterface group("arm");
moveit::planning_interface::MoveGroupInterface group_g("gripper");
//we can add or remove collision objects in our virtual world scene
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
//raw pointers are used to refer to the planning group for improved performance
const robot_state::JointModelGroup *joint_model_group = group.getCurrentState()->getJointModelGroup("arm");
group.setEndEffectorLink("link4");
group.setStartStateToCurrentState();
geometry_msgs::Pose target_pose1;
// target_pose1.orientation.x =-0.0698152559439;
// target_pose1.orientation.y =2.08265213726e-06;
// target_pose1.orientation.z =-1.45756547007e-07;
// target_pose1.orientation.w = 0.997559938065;
// target_pose1.position.y = -0.139249505223;
// target_pose1.position.z = 1.00958973838;
group.setGoalTolerance(0.0001);
group.setPositionTarget(0, 1.37, 0.40, "link4");
//group.setApproximateJointValueTarget(target_pose1,"link4"); only works with this function
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
moveit::planning_interface::MoveItErrorCode success = group.plan(my_plan);
ROS_INFO("Visualizing plan 1 (pose goal) %s", success.val ? "" : "FAILED");
if (!success)
throw std::runtime_error("No plan found");
group.move(); //blocking
sleep(5.0);
ros::shutdown();
return 0;
}
And finally the error :
//NODE ERROR
[ WARN] [1580223145.648796219]: Fail: ABORTED: No motion plan found. No execution attempted.
[ INFO] [1580223145.648850922]: Visualizing plan 1 (pose goal)
terminate called after throwing an instance of 'std::runtime_error'
what(): No plan found
Aborted (core dumped)
//MOVE IT ERROR
[ INFO] [1580223110.865485565]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ INFO] [1580223111.945787906]: Ready to take commands for planning group arm.
[ INFO] [1580223111.945929737]: Looking around: no
[ INFO] [1580223111.946068449]: Replanning: no
[ INFO] [1580223140.518161060]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1580223140.625874939]: Planner configuration 'arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1580223140.635057382]: RRTConnect: Starting planning with 1 states already in datastructure
[ERROR] [1580223145.639938298]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1580223145.640045796]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1580223145.640099070]: No solution found after 5.005407 seconds
[ INFO] [1580223145.648314375]: Unable to solve the planning problem
Important : My ARM only can moves in Y and Z axis
i was reading about KDL Kinematic plugin that only works with six or more DOF , and i’m tryng to create my own KDL plugin follow the next STEPS but i cant install openrave .
I dont know what’s happen 
hope somebody here can help me , plz i really need the help :C
Thanks for your time fellas 