胡老师您好,想请教您一个问题。ros机器人开发实践中10.9.1节运行roslaunch marm_planning arm_planning.launch和rosrun marm_planning moveit_fk_demo.py时,总是出现如下错误:
[ INFO] [1614589847.047628812]: Planning attempt 1 of at most 1
[ INFO] [1614589847.050491501]: Planner configuration 'gripper' will use planner 'geometric::SBL'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1614589847.051059772]: SBL: Attempting to use default projection.
[ERROR] [1614589847.051180573]: No default projection is set. Perhaps setup() needs to be called
[ERROR] [1614589847.051731966]: OMPL encountered an error: No projection evaluator specified
[ INFO] [1614589848.147207436]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
猜想是不是因为/home/sun/roshchx_ws/src/robot_marm/marm_moveit_config/config/ompl_planning.yaml中在
gripper:
default_planner_config: SBL
planner_configs:
- SBL
- EST
- LBKPIECE
- BKPIECE
- KPIECE
- RRT
- RRTConnect
- RRTstar
- TRRT
- PRM
- PRMstar
- FMT
- BFMT
- PDST
- STRIDE
- BiTRRT
- LBTRRT
- BiEST
- ProjEST
- LazyPRM
- LazyPRMstar
- SPARS
- SPARStwo后面缺少
projection_evaluator: joints(joint1,joint2)和
longest_valid_segment_fraction: 0.005
可是 projection_evaluator: joints(joint1,joint2)中的joint1和joint2应该写谁呀?
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