MOVEIT MoveIt Quickstart in RViz - Robot trail not showing up?

[ACTSdesigner]

Description

MOVEIT MoveIt Quickstart in RViz - Robot trail not showing up?

Your environment

• ROS Distro: Iron
• OS Version: Ubuntu 22.04.3 LTS
• Binary build
• GNU bash, version 5.1.16(1)-release (x86_64-pc-linux-gnu)

Steps to reproduce

I'm attempting to run the MOVEIT MoveIt Quickstart in RViz(https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html#moveit-quickstart-in-rviz) and when I get down to the Step 4: Use Motion Planning with the Kinova Gen 3, I don't see the intermediate grey robot trail point. I've done a clean install of Ubuntu, ROS Iron, MOVEIT2 with no change, the robot trail points are not generated, although I can get the robot to move from the start to the target position, so the path planning is taking place and the path execution also works.

Expected behaviour

When I get down to the Step 4: Use Motion Planning with the Kinova Gen 3, I don't see the intermediate grey robot trail point as shown in the screenshot.

Document8.docx

Backtrace or Console output

Document7.docx

See highlighted in \yellow warnings.

[pbrandstet]

I have a simular issue.

I follow the following instructions:

• Now, you can start motion planning with the Kinova Gen 3 in the MoveIt RViz Plugin.

1. Move the Start State to a desired location.
2. Move the Goal State to another desired location.
3. Make sure both states are not in collision with the robot itself.
4. Un-check the Show Trail checkbox in the Planned Path tree menu.

• In the MotionPlanning window under the Planning tab, press the Plan button.
• Check the Show Trail checkbox in the Planned Path tree menu. You should see the arm’s path represented by a series of manipulator poses.

When i click plan, the planning is successful. I get this log: [rviz2-1] [INFO] [1706894483.884323794] [rviz2.move_group_interface]: MoveGroup action client/server ready [move_group-4] [INFO] [1706894483.884660496] [move_group.moveit.MoveGroupMoveAction]: MoveGroupMoveAction: Received request [move_group-4] [INFO] [1706894483.884826348] [move_group.moveit.MoveGroupMoveAction]: executing.. [rviz2-1] [INFO] [1706894483.884902300] [rviz2.move_group_interface]: Planning request accepted [move_group-4] [INFO] [1706894483.885343410] [move_group.moveit.MoveGroupMoveAction]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [move_group-4] [INFO] [1706894483.885453520] [move_group.moveit.move_group_capability]: Using planning pipeline 'ompl' [move_group-4] [INFO] [1706894483.885509337] [move_group]: Calling PlanningRequestAdapter 'ResolveConstraintFrames' [move_group-4] [INFO] [1706894483.885567893] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateBounds' [move_group-4] [INFO] [1706894483.885614822] [move_group]: Calling PlanningRequestAdapter 'CheckStartStateCollision' [move_group-4] [INFO] [1706894483.885707093] [move_group]: Calling PlanningRequestAdapter 'ValidateWorkspaceBounds' [move_group-4] [INFO] [1706894483.885937666] [move_group.moveit.ompl_model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-4] [INFO] [1706894483.886015167] [move_group]: Calling Planner 'OMPL' [move_group-4] [INFO] [1706894483.908359615] [move_group]: Calling PlanningResponseAdapter 'AddTimeOptimalParameterization' [move_group-4] [WARN] [1706894483.949493656] [move_group.moveit.planning_pipeline]: The planner plugin did not fill out the 'planner_id' field of the MotionPlanResponse. Setting it to the planner ID name of the MotionPlanRequest assuming that the planner plugin does warn you if it does not use the requested planner. [move_group-4] [INFO] [1706894483.949668503] [move_group.moveit.MoveGroupMoveAction]: Motion plan was computed successfully. [rviz2-1] [INFO] [1706894483.949981958] [rviz2.move_group_interface]: Planning request complete! [rviz2-1] [INFO] [1706894483.950317775] [rviz2.move_group_interface]: time taken to generate plan: 0.0221025 seconds

But the trail is not shown, when i check "Show Trail".

I use Ubuntu 22.04 with ROS Humble

[Sgt-Harry]

Same Issue. And I think it may be related to some Warning above like

[move_group-4] [INFO] [1712679511.502278833] [move_group.moveit.moveit.planners.ompl.model_based_planning_context]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.

After seeing other Issues. I'm now certain that the issue is reflected in the error message above; it's likely some mistakes in the default solver's namespace. The detailed reason is discussed here #724

By changing the solver from ompl to another in the MotionPlanning/Context, the Trail can be seen.