MoveGroupExecuteTrajectoryAction vs. MoveGroupExecuteService #201
Description
Recently, I did an update from a very old version of MoveIt to the current version of the jade-devel branch. So far everything was working fine with the RVIZ interface and my configuration for the Jaco2.
Using RVIZ I can plan and execute path on my jaco2. However, I realized that previously working programs using the MoveGroup interface do not execute any path any more.
Instead I get the following exception (move_group.cpp Line 224):
terminate called after throwing an instance of 'std::runtime_error'
what(): No Trajectory execution capability available.
Aborted (core dumped)
Switching back to the deprecated MoveGroupExecuteService solves this issue.
Unfortunately, I did not find any information, if the Moveit config/ a controller or the usage of the MoveGroup has to be changed in order to make everything run with the TrajectoryAction.
I would be very happy if someone could give me some hints to this issue.
Here is the code I tried to run:
`int main(int argc, char *argv[])
{
ros::init (argc, argv, "home_arm");
ros::NodeHandle node_handle("~");
ros::AsyncSpinner spinner(1);
spinner.start();
ros::Duration sleep_time(1.0);
sleep_time.sleep();
sleep_time.sleep();
moveit::planning_interface::MoveGroup::Plan my_plan;
moveit::planning_interface::MoveGroup group("manipulator");
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
group.setPlannerId("RRTkConfigDefault");
group.setStartStateToCurrentState();
group.setPlanningTime(5.0);
group.setNamedTarget("home");
moveit_msgs::MoveItErrorCodes success = group.plan(my_plan);
if(success.val == moveit_msgs::MoveItErrorCodes::SUCCESS) {
ROS_INFO("Success! Now move");
success = group.move();
}
spinner.stop();
ros::shutdown();
return 0;}`