Hybrid planning fails when I modify local_planner.yaml

[ipc-robot]

Description

Overview of your issue here.

Your environment

• ROS Distro: Humble
• OS Version: e.g. Ubuntu 22.04
• Binary build

ii  ros-humble-moveit                                                 2.5.5-1jammy.20240611.155619                      amd64        Meta package that contains all essential packages of MoveIt 2

• Which RMW (Fast DDS or Cyclone DDS)? Humble or Rolling should be using Cyclone.
  I‘m not sure.

ipc-robot@ipcrobot-Precision-Tower-3420:~/ws_realman_hybrid$ ros2 pkg list | grep rmw
rmw
rmw_dds_common
rmw_fastrtps_cpp
rmw_fastrtps_shared_cpp
rmw_implementation
rmw_implementation_cmake

Steps to reproduce

Simply modify `local_planner.yaml' like this.

robot_description: "robot_description"
trajectory_operator_plugin_name: "moveit_hybrid_planning/SimpleSampler"
local_constraint_solver_plugin_name: "moveit_hybrid_planning/ForwardTrajectory"
local_planning_frequency: 100.0
global_solution_topic: "global_trajectory"
local_solution_topic: "/panda_arm_controller/joint_trajectory" # or panda_arm_controller/joint_trajectory
local_solution_topic_type: "trajectory_msgs/JointTrajectory" # or trajectory_msgs/JointTrajectory
publish_joint_positions: true
publish_joint_velocities: false
group_name: "panda_arm"
# Subscribe to this topic
monitored_planning_scene: "/planning_scene"
collision_object_topic: "/collision_object"
joint_states_topic: "/joint_states"

# ForwardTrajectory param
stop_before_collision: true

Expected behaviour

Your notes say that this is OK and the arm should move.

Actual behaviour

In fact, the arm did not move.

Backtrace or Console output

The following content is refreshed all the time. In rviz, the robot arm keeps refreshing the planned trajectory, but it does not move.

[component_container_mt-1] [INFO] [1721573020.717986891] [local_planner_component]: The local planner has been stuck for several iterations. Aborting.
[component_container_mt-1] [INFO] [1721573020.718168993] [global_planner_component]: Received global planning goal request
[hybrid_planning_demo_node-8] [WARN] [1721573020.748425543] [moveit_planning_scene.planning_scene]: Tried to remove world object 'box1', but it does not exist in this scene.
[component_container_mt-1] [WARN] [1721573020.748582236] [moveit.ompl_planning.planning_context_manager]: Cannot find planning configuration for group 'panda_arm' using planner 'ompl'. Will use defaults instead.
[component_container_mt-1] [WARN] [1721573020.748729785] [moveit.ompl_planning.model_based_planning_context]: It looks like the planning volume was not specified.
[hybrid_planning_demo_node-8] [INFO] [1721573020.748682695] [test_hybrid_planning_client]: Global goal accepted by server
[component_container_mt-1] [INFO] [1721573020.748856866] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[hybrid_planning_demo_node-8] [WARN] [1721573020.825277658] [moveit_planning_scene.planning_scene]: Tried to remove world object 'box1', but it does not exist in this scene.

Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.

[github-actions]

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