Hi,

I am following the tutorial of Move Group C++ interface for UR5 robot. The problem I am facing is that the robot moves only one joint at a time to reached a Target.

I have tried both methods of reaching the target, either by planning to a Pose goal or by planning to a joint-space goal and the result is the same. I have to run the command

movegroup.move(); or
movegroup.asyncMove()

several times to reach to the target. The planning part is working fine and reached the target every time.

I am using ubuntu 16.04 (64bit) and ROS Kinetic.

Following is my Launch file : <!-- If sim=false, then robotip is required --> <arg name="robotip" unless="$(arg sim)" /> <!-- By default, we do not start a database (it can be large) -->

<!-- By default, we are not in debug mode --> <!-- Limited joint angles are used. Prevents complex robot configurations and makes the planner more efficient -->

<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->

<!-- If needed, broadcast static tf for robot root --> <!-- We do not have a robot connected, so publish fake joint states --> <!-- If sim mode, run the simulator --> [/movegroup/fakecontrollerjointstates]

<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->

<!--https://github.com/jmiseikis/ur5_inf3480/blob/master/launch/ur5_launch_inf3480.launch-->

<!-- Run Rviz and load the default config to see the state of the movegroup node --> <include file="$(find ur5moveitconfig)/launch/moveitrviz.launch"> <!-- -->

<!-- If database loading was enabled, start mongodb as well --> <!-- Given the published joint states, publish tf for the robot links -->