When i was create the first Motion Planning, using moveit package on Rviz the result is succes, the robot visualization will move. But when i create the second movement the error said like picture below
How to Solve this problem?
Thank you for sharing the captured image.
I'll request more information regarding the Joint1 control with MoveIt!.
From the eManual Moveit! section, you can follow the tip.
TIP: If you would like to use inverse kinematics with
kinematics.yaml and set
position_only_ik parameter to True.
Since OM-X is only using 4DOF(excluding the gripper), not all position + orientation on the 3D cartesian coordinate can be solved.
If you are using Position only, the endeffector will be used calculated without the orientation.
However, this will ignore the orientation and the Joint 4 cannot be controlled.
This is related to the limitation of the hardware structure, and one way to resolve this issue will be adding more joint to increase the DOF.