ros2 runtime_error ai_generated partial

MoveIt failed to compute a plan to the goal state

ID: ros2/moveit2-planning-failed

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65%Fix Rate

82%Confidence

3Evidence

2023-01-01First Seen

Version Compatibility

Version	Status	Introduced	Deprecated	Notes
2	active	—	—	—

MoveIt2 motion planner cannot find a collision-free path. Caused by tight spaces, IK failures, or planning scene misconfiguration.

generic

88% success Check if goal pose is reachable with IK: computeIK before planning
```
ros2 service call /compute_ik moveit_msgs/srv/GetPositionIK ...
```
90% success Visualize the planning scene in RViz to check for unexpected collision objects
```
Add PlanningScene display in RViz2; check for stale collision objects
```

80% success Use cartesian path planning for constrained motions

fraction = move_group.compute_cartesian_path(waypoints, 0.01, 0.0)

Common approaches that don't work:

Increase planning time to 60+ seconds unconditionally 78% fail
If the goal is unreachable or in collision, no amount of planning time will help
Disable collision checking to get a plan 95% fail
Produces paths that collide with obstacles or the robot itself; dangerous on real hardware
Switch planner to RRTConnect for every motion 70% fail
RRTConnect is already the default; the issue is usually the goal or scene, not the planner

Preceded by: