STOMP failes to plan with using the the move_group move() method.

[Levi-Armstrong]

It looks like the moveit move_group move method does not populate the robot start state in the planning request. Therefore STOMP check if it is populated and if not it exits and prints a warning where OMPL will plan fine. Not sure if this is really a STOMP issue or a moveit issue. Maybe if the start state is not provided it should get the current state of the robot?

[janisa9]

Hi!

Is this issue solved? Recently ran into this problem and I don't know in which part is this issue.. Yesterday added comment in #37. Can you take a look?

[janisa9]

@Levi-Armstrong Yep that was the problem, solved this by using move_group execute() method.

[jrgnicho]

At the very least a warning should be printed when an empty robot state is encountered.

[simonschmeisser]

This has likely been fixed by ros-industrial/stomp_ros#26 ?