the reference answer GPT ᴼ ᴾ ᴱ ᴺ ᴬ ᴵ < br / > this error message between the robot and the current state, the starting point of the deviation of more than 0.01, the path is invalid. The possible reason is that there are some inconsistencies or errors between robot state and trajectory planning.
Here are some possible solutions:
Adjust the starting state of the robot: It can check whether the current state of the robot is correct and whether the starting point in the trajectory planning matches the current state of the robot. We can try to adjust the attitude of the robot to the initial attitude expected by the trajectory planning, and then re-execute the trajectory planning.
Adjust trajectory planning parameters: Parameters of the trajectory planner can be adjusted to reduce the error between the robot state and the planned path. For example, the planning step size of the trajectory planner can be increased or the maximum speed and acceleration of the trajectory planner can be reduced to make the planned path smoother and reduce errors.
Check the collision between the robot and the environment: When planning the path, you need to consider the collision between the robot and the surrounding environment. If there is a collision between the robot and the environment, then the planner will try to adjust the path to avoid the collision, which may cause an error between the starting point and the planned path. You can check whether there is a collision between the robot and the environment, and try to adjust the position of the robot or the environment to avoid collision problems.
Adjusting the robot controller: The robot controller may also affect the accuracy of trajectory planning. For example, if the robot controller is slow to respond, the robot's state may not be updated in a timely manner, resulting in an error between the robot's state and the planned path. The controller parameters of the robot can be adjusted to improve the response speed and accuracy of the robot.