pick_and_place_two_arm_demo.pyで軌道生成に失敗する

[ShotaAk]

不具合の概要

pick_and_place_two_arm_demo.pyを実行すると、bringupを起動したターミナルに次のエラーが表示されます。

[ERROR] [1647247236.328999900]: IKConstraintSampler received dirty robot state, but valid transforms are required. Failing.
[ERROR] [1647247236.329025764]: IKConstraintSampler received dirty robot state, but valid transforms are required. Failing.
[ERROR] [1647247236.329053517]: IKConstraintSampler received dirty robot state, but valid transforms are required. Failing.
[ERROR] [1647247236.329089604]: IKConstraintSampler received dirty robot state, but valid transforms are required. Failing.
[ERROR] [1647247236.329119359]: IKConstraintSampler received dirty robot state, but valid transforms are required. Failing.
[ERROR] [1647247236.338776512]: two_arm_group/two_arm_group: Unable to sample any valid states for goal tree
[ INFO] [1647247236.338925209]: two_arm_group/two_arm_group: Created 1 states (1 start + 0 goal)
[ INFO] [1647247236.339072536]: No solution found after 0.062662 seconds
[ INFO] [1647247236.339154825]: Unable to solve the planning problem
[ WARN] [1647247236.339212746]: More than one constraint is set. If your move_group does not have multiple end effectors/arms, this is unusual. Are you using a move_group_interface and forgetting to call clearPoseTargets() or equivalent?

軌道生成に失敗しているため、サンプルを実行しても手先位置は変わりません。

実行環境

• OS:Ubuntu 20.04, ROS Noetic
• ソフトのバージョン: a71ca5801fad7bca229142f8ade1852c7b98b9ed

[ShotaAk]

関連issue https://github.com/ros-planning/moveit/issues/3082