TrajOptTaskflow Failure

[vegfood]

when I use trajopt planner, sometimes it fails and shows that <> even if the plan problem seems not difficult. I also looked at the plotted trajectory in rviz, it seems all right and no collision, so i wander why it reports failed message and what exactly are the constraints taken into account while planning, i know there're pose, start and end position, what else ?

[Levi-Armstrong]

Sorry, I missed this post. The easiest way to determine why it failed is to set the logger level to debug which will cause it to print out a summary table of the costs and constraints. This will help identify where the issue is.

[vegfood]

ok, thank you ！