Failure to plan trajectory in MoveIt!

[ktiwari9]

When I run the MoveIt to plan trajectory for Baxter using roslaunch baxter_moveit_config moveit_rviz.launch, I use a current start position and a random end position. I click on Plan and it says planning failed. The error on terminal says :[ WARN] [1401372245.067914854]: Fail: ABORTED: No motion plan found. No execution attempted.

Any suggestions on how to fix this ?

[davetcoleman]

That is a tough one to answer, so many possible issues. You might have a bad URDF model somewhere, such that the links are always in collision for some reason. Click on the status tab (the one on the far right) of the moveit plugin in Rviz and see if it has any clue. Or turn on debug output for moveit using the roslog tools and let me know if it says anything useful.