IK solution failed and the robot can't move to the Entry point

Development
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1

Hello guys,I have go throught the ROSIGTLTutorial-ISMR2019 recently, after follow the steps of Fiducial Registration Wizard the relationship between the robot and the patient
on rviz and 3D Slicer are Confirmed.

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So i continue the tutorial to execution of the plan
（1）copy the plan and rename as Plan Reference
（2）copy the ReferenceToRas and rename as RasToFeference and invert the transform
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（3）Open “RasToReference” transform in “Transforms” and Apply “RasToReference” transform to “Plan-Reference”
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When all the steps done，the 3D Slicer sense as show below
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And finally Send “Plan-Reference” in “I/O Configuration”，and from the ros node message the Plan is sent to ROS, but the robot didn’t moves to the
entry, and then the target the message like the below picture
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And i also change the OMPL planner in Rviz and Moveit but it also can’t solve .
Can someone tell me why ,and thanks in advance.
Best wishes,
-Jian

2

The error indicate that the robot cannot physically reach the target position/orientation. It is either because you need to move the robot closer, in a better orientation; or the robot has not been registered correctly to the patient. It is hard to tell which one is the case here from the screenshots and high-level description.