机械臂逆向运动学规划出现如下报错,
[ INFO] [1724218381.792771589]: Loading robot model 'probot_anno'...
[ INFO] [1724218381.795094101]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1724218382.367188108]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1724218383.766310654]: Ready to take commands for planning group manipulator.
[ WARN] [1724218390.480866558]: Fail: ABORTED: TIMED_OUT
查了一些帖子,主要解决方案思路是更换Kinematic求解器
先尝试了在kinematics.yaml中直接更换求解器,出现如下代码报错
[ERROR] [1724218620.906642073]: The kinematics plugin (manipulator) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
[ERROR] [1724218620.906867882]: Kinematics solver could not be instantiated for joint group manipulator.
实际上应该回到Setup_moveit中修改
rosrun moveit_setup_assistant moveit_setup_assistant
修改过程如下,先点manipulator,再点Edit Selected
在这个页面中选择带ik的求解器
最后重新生成包,我就不放图片了,Rviz正常可执行ik的程序