[ompl-users] HCIK

[Dirkx, N.J. <n.j...@st...>]

Hi there 

I am using OMPL in combination with ROS, for a 7DOF robotic arm. 
Pretty often, when i send a pose goal for the arm, it seems that the KPIECE path planner enters a certain infinite 'debug' loop, after which it needs to be shut down. 
This is the output printed to the screen:

"Selected motion planner: 'kinematic::KPIECE[KPIECEkConfig2r]', with priority 4
ompl planning for group right_arm
Info:    KPIECE1: Starting with 1 states
Debug:   Start Running HCIK (0.00000)...
Debug:   End Running HCIK
Debug:   Start Running HCIK (0.00000)...
Debug:   End Running HCIK
Debug:   Start Running HCIK (0.00000)...
Debug:   End Running HCIK
Debug:   Start Running HCIK (0.00000)...
Debug:   End Running HCIK"
... and so forth

Does anyone know what this might be?

Nic