Hello,

I am getting weird trajectories in MoveIt! to 3-DOF arms! Below there is a video showing the planned trajectories:

https://www.youtube.com/watch?v=s0FOh1ZeC0M

All the moveit configuration files are the default produced by MoveIt! Setup Assistant (I have only modified the controllers.yaml to include my controllers). The ROS controllers are effort_controllers/JointTrajectoryController and the MoveIt! controllers are FollowJointTrajectory. For the ROS controllers I have provided the dummy but stable enough PID values of {p: 100.0, i: 0.01, d: 10.0} for all the joints.. I also tried position_controllers/JointTrajectoryController for the ROS controllers and providing PID values to gazebo_ros_control , but the result was again weird trajectories..

Any thoughts on why this is happening?

Thanks in advance,

Konstantinos