If I run the 6DoFHolonomicpathPlanning example without any modifications, then it works fine. I am using V-REP PRO EDU version 3.5.0 (rev. 6) on Ubuntu 16.04.
But if I change the orientation for the Dummy object "Start" (e.g. set "gamma" to 10 degrees), then I get an "invalid bounds" error for the start state:
Code: Select all
Info: RRTConnect: Space information setup was not yet called. Calling now. Debug: RRTConnect: Planner range detected to be 0.804057 Warning: RRTConnect: Skipping invalid start state (invalid bounds) at line 248 in /home/marc/Documents/ompl-1.3.1-Source/src/ompl/base/src/Planner.cpp Debug: RRTConnect: Discarded start state Compound state [ Compound state [ RealVectorState [0.466748 0.15302 0.915532] SO3State [-6.90681e-10 6.04268e-11 0.0871557 0.996195] ] ] Error: RRTConnect: Motion planning start tree could not be initialized! at line 177 in /home/marc/Documents/ompl-1.3.1-Source/src/ompl/geometric/planners/rrt/src/RRTConnect.cpp
I observed this behavior also in my scene, which is more complex. In my application, I need to be able to find paths from random initial orientations (and positions).
Thank you for your help.