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ERROR ros.moveit_ros_planning: Apparently trajectory initialization failed.

Based on the MoveIt_tutorial

Run the command:

roslaunch baxter_moveit_config baxter_grippers.launch

Drag the left hand to a higher place, and then click no "Plan and Execute", it said "Failed". On the terminator screen it showed

...
 INFO ros.ompl: LBKPIECE1: Starting planning with 1 states already in datastructure
 INFO ros.ompl: LBKPIECE1: Attempting to use default projection.
 INFO ros.ompl: LBKPIECE1: Starting planning with 1 states already in datastructure
 INFO ros.ompl: LBKPIECE1: Attempting to use default projection.
 INFO ros.ompl: LBKPIECE1: Starting planning with 1 states already in datastructure
 INFO ros.ompl: LBKPIECE1: Created 102 (51 start + 51 goal) states in 88 cells (48 start (48 on boundary) + 40 goal (40 on boundary))
 INFO ros.ompl: LBKPIECE1: Created 130 (59 start + 71 goal) states in 110 cells (56 start (56 on boundary) + 54 goal (54 on boundary))
 INFO ros.ompl: LBKPIECE1: Created 106 (62 start + 44 goal) states in 89 cells (59 start (59 on boundary) + 30 goal (30 on boundary))
 INFO ros.ompl: LBKPIECE1: Created 146 (68 start + 78 goal) states in 128 cells (65 start (65 on boundary) + 63 goal (63 on boundary))
 INFO ros.ompl: ParallelPlan::solve(): Solution found by one or more threads in 0.763896 seconds
 INFO ros.ompl: LBKPIECE1: Attempting to use default projection.
 INFO ros.ompl: LBKPIECE1: Starting planning with 1 states already in datastructure
 INFO ros.ompl: LBKPIECE1: Attempting to use default projection.
 INFO ros.ompl: LBKPIECE1: Starting planning with 1 states already in datastructure
 INFO ros.ompl: LBKPIECE1: Attempting to use default projection.
 INFO ros.ompl: LBKPIECE1: Starting planning with 1 states already in datastructure
 INFO ros.ompl: LBKPIECE1: Attempting to use default projection.
 INFO ros.ompl: LBKPIECE1: Starting planning with 1 states already in datastructure
 INFO ros.ompl: LBKPIECE1: Created 92 (19 start + 73 goal) states in 77 cells (17 start (17 on boundary) + 60 goal (60 on boundary))
 INFO ros.ompl: LBKPIECE1: Created 181 (134 start + 47 goal) states in 161 cells (127 start (127 on boundary) + 34 goal (34 on boundary))
 INFO ros.ompl: LBKPIECE1: Created 127 (63 start + 64 goal) states in 107 cells (59 start (59 on boundary) + 48 goal (48 on boundary))
 INFO ros.ompl: LBKPIECE1: Created 146 (67 start + 79 goal) states in 128 cells (64 start (64 on boundary) + 64 goal (64 on boundary))
 INFO ros.ompl: ParallelPlan::solve(): Solution found by one or more threads in 1.752084 seconds
 INFO ros.ompl: LBKPIECE1: Attempting to use default projection.
 INFO ros.ompl: LBKPIECE1: Attempting to use default projection.
 INFO ros.ompl: LBKPIECE1: Starting planning with 1 states already in datastructure
 INFO ros.ompl: LBKPIECE1: Starting planning with 1 states already in datastructure
 INFO ros.ompl: LBKPIECE1: Created 106 (63 start + 43 goal) states in 91 cells (57 start (57 on boundary) + 34 goal (34 on boundary))
 INFO ros.ompl: LBKPIECE1: Created 177 (97 start + 80 goal) states in 157 cells (91 start (91 on boundary) + 66 goal (66 on boundary))
 INFO ros.ompl: ParallelPlan::solve(): Solution found by one or more threads in 1.498587 seconds
 INFO ros.ompl: SimpleSetup: Path simplification took 0.000229 seconds and changed from 24 to 2 states
DEBUG ros.moveit_ros_move_group.actionlib: Publishing feedback for goal, id: /rviz_ros_monster_1756_1668078336463713208-4-1456970707.404622775, stamp: 1456970707.40
DEBUG ros.moveit_ros_move_group.actionlib: Publishing feedback for goal with id: /rviz_ros_monster_1756_1668078336463713208-4-1456970707.404622775 and stamp: 1456970707.40
 INFO ros.moveit_simple_controller_manager: Returned 0 controllers in list
ERROR ros.moveit_ros_planning.traj_execution: Unable to identify any set of controllers that can actuate the specified joints: [ left_e0 left_e1 left_s0 left_s1 left_w0 left_w1 left_w2 right_e0 right_e1 right_s0 right_s1 right_w0 right_w1 right_w2 ]
ERROR ros.moveit_ros_planning.traj_execution: Known controllers and their joints:

ERROR ros.moveit_ros_planning: Apparently trajectory initialization failed
DEBUG ros.moveit_ros_move_group.actionlib: Setting the current goal as aborted
DEBUG ros.moveit_ros_move_group.actionlib: Setting status to aborted on goal, id: /rviz_ros_monster_1756_1668078336463713208-4-1456970707.404622775, stamp: 1456970707.40
DEBUG ros.moveit_ros_move_group.actionlib: Publishing result for goal with id: /rviz_ros_monster_1756_1668078336463713208-4-1456970707.404622775 and stamp: 1456970707.40
DEBUG ros.moveit_ros_move_group.actionlib: Publishing feedback for goal, id: /rviz_ros_monster_1756_1668078336463713208-4-1456970707.404622775, stamp: 1456970707.40
DEBUG ros.moveit_ros_move_group.actionlib: Publishing feedback for goal with id: /rviz_ros_monster_1756_1668078336463713208-4-1456970707.404622775 and stamp: 1456970707.40
 INFO ros.moveit_ros_planning_interface: ABORTED: Solution found but controller failed during execution

screenshot from 2016-03-02 19 08 19

Test Rethink Robotics Examples

Example Programs

SDK Examples

Fundamentals
Enable Robot Example (Start Here) - This tool is responsible for enabling (powering and state monitoring) Baxter. Enabling the robot is expected and necessary for standard Baxter usage.

Movement
Joint Position Waypoints Example - The basic example for joint position moves. Hand-over-hand teach and recording a number of joint position waypoints. These waypoints will then be played back indefinitely upon completion.
Joint Position Keyboard Example - This example demonstrates numerous joint position control.
Joint Position Example - Joystick, keyboard and file record/playback examples using joint position control of Baxter's arms.
Joint Torque Springs Example - Joint torque control example applying virtual spring torques.
Joint Velocity Wobbler Example - Simple demo that moves the arm with sinusoidal joint velocities.
Joint Velocity Puppet Example - Simple demo which mirrors moves of one arm on the other in Zero-G.
Inverse Kinematics Service Example - Basic use of Inverse Kinematics solver service.
Simple Joint Trajectory Example - Simple demo using the joint trajectory interface.
Joint Trajectory Playback Example - Trajectory playback using the joint trajectory interface.
Head Movement Example - Simple demo moving and nodding the head.
Head Action Client Example - A demo to showcase the functionality of the head trajectory action server.
Gripper Example - Joystick and Keyboard control for the grippers.
Gripper Cuff Control Example - Simple cuff-interaction control with Zero-G mode.

Robot Configuration
URDF Configuration Example - A simple ROS node that shows how to add segment and joint subtrees to the robot's model.

Simulator
IK Pick and Place Demo - An intermediate example for combining Inverse Kinematics Service calls with Arm movement, gripper actuation, Gazebo Model Spawning, and simulator readiness.

Input and Output
Camera Control Example - Demonstrates usage for listing, opening, and closing the available cameras.
View Cameras Example - Simple tool for viewing camera feed on development machine.
Screen Display - Example tool for displaying image files (png, jpeg) on the Head Screen.
I/O Example - Flash the lights on the digital outputs.

Couldn't find executable named enable_robot

#5 Enable Robot Example

[09:04 PM]src $ rosrun baxter_tools enable_robot -e
[rosrun] Couldn't find executable named enable_robot below /home/colab/ros/ws_baxter_sdk/src/baxter_tools

screenshot from 2016-01-12 21 04 46

E-Stop is ASSERTED

[09:27 PM]catkin_ws $ rosrun baxter_tools enable_robot.py -e
INFO rosout: Robot Stopped: Attempting Reset...
FATAL rosout: E-Stop is ASSERTED. Disengage E-Stop and then reset the robot.

ERROR rosout: Failed to Reset: E-Stop Engaged
screenshot from 2016-01-12 21 34 32

Failed to reset robot.

E-Stop is ASSERTED
[09:36 PM]catkin_ws $ rosrun baxter_tools enable_robot.py -e
INFO rosout: Robot Stopped: Attempting Reset...
INFO rosout: Resetting robot...
ERROR rosout: Failed to reset robot.
Please verify that the ROS_IP or ROS_HOSTNAME environment variables are set
and resolvable. For more information please visit:
http://sdk.rethinkrobotics.com/wiki/RSDK_Shell#Initialize

screenshot from 2016-01-13 11 27 35

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