moveit error ABORTED: No motion plan found. No execution attempted. [closed]

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Hello,

I’m using moveit c++ interface in order to send a cartesian pose to the gazebo simulated robot. Below is the code which i’m using to send the pose, the mentioned pose is retrived from gazebo by calling gazebo/get_model_state service hence pose is accurate.

This pose is definately reachable as i have planend simular pose for gazebo simulated robot using rviz gui + moveit plugin. When i use rviz gui to generate any pose and plan+execute it, there is no error. When i use moveit c++ interface there will be error saying ABORTED: No motion plan found. No execution attempted..

Update1 When i send cartesian pose by using moveit c++ interface, robot doesn’t plan the motion in rviz. My question is now reframed as: is my pose valid?? How to check if it is valid?

Error from terminal where moveit c++ interface script is called:

vmh@williams:~/ws_panda_gazebo_moveit$ roslaunch robot_moveit_config moveit_interface.launch
... logging to /home/vmh/.ros/log/212903dc-3515-11e9-82e7-fcaa1425f14a/roslaunch-williams-29963.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://williams:42297/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    moveit_interface (robot_moveit_config/moveit_interface)

ROS_MASTER_URI=http://localhost:11311

process[moveit_interface-1]: started with pid [29980]
[ INFO] [1550670315.883205552]: Loading robot model 'panda'...
[ WARN] [1550670315.883263281]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1550670315.883273752]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1550670315.961528919]: Loading robot model 'panda'...
[ WARN] [1550670315.961571718]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1550670315.961587993]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1550670315.975847754]: cache file /home/vmh/.ros/robot_descriptionpanda_arm_worldpanda_link8_5000_1.000000_1.000000.ikcache initialized!
[ INFO] [1550670317.258878053, 2440.230000000]: Ready to take commands for planning group panda_arm.
[ INFO] [1550670332.779023625, 2455.727000000]: ABORTED: No motion plan found. No execution attempted.
[moveit_interface-1] process has finished cleanly
log file: /home/vmh/.ros/log/212903dc-3515-11e9-82e7-fcaa1425f14a/moveit_interface-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Update2:

When i check the terminal from which i launch rviz gui, i get the error saying: Terminal info in which rviz gui is launched:

You can start planning now!

[ INFO] [1550670083.139279735, 2206.390000000]: Stereo is NOT SUPPORTED
[ INFO] [1550670083.139358951, 2206.390000000]: OpenGl version: 4.5 (GLSL 4.5).
[ INFO] [1550670086.554426726, 2209.801000000]: Loading robot model 'panda'...
[ WARN] [1550670086.554517355, 2209.801000000]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1550670086.554538395, 2209.801000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1550670086.601970879, 2209.849000000]: Loading robot model 'panda'...
[ WARN] [1550670086.601996655, 2209.849000000]: Skipping virtual joint 'virtual_joint' because its child frame 'panda_link0' does not match the URDF frame 'world'
[ INFO] [1550670086.602012504, 2209.849000000]: No root/virtual ...