sequence_move_group keeps Aborting

edit

Hello Developers,

I am trying to use `sequence_move_group' action client to move my manipulator to a certain location. I recycled the Pilz Industrial Motion Planner in order to provide a sequence of way-points to pass through. While the Pilz tutorial works for moving the robot to a desired joint configuration, when I give the same set (all zero joint-angle) configuration, when printing the action client status, I see that it is 1 (Active) for some amount of time and then its status changes to 4 (Aborted).

I am unable to find the cause for the trajectory following to be rejected. I see that the joint torques are not hitting their respective thresholds.

Any help in diagnosing the cause would be most appreciated.

Thank you

Setup:

• OS: Ubuntu 20.02
• ROS Distro: Noetic

Demo python script

#!/usr/bin/env python
from geometry_msgs.msg import Pose, Point
from pilz_robot_programming import *
import math
import rospy

__REQUIRED_API_VERSION__ = "1"  # API version
__ROBOT_VELOCITY__ = 0.5        # velocity of the robot

# main program
def start_program():
    print(r.get_current_pose()) # print the current position of thr robot in the terminal
    # Simple ptp movement
    r.move(Ptp(goal=[0, 0, 0, 0, 0, 0, 0], vel_scale=0.05))

    start_joint_values = r.get_current_joint_states()

if __name__ == "__main__":
    # init a rosnode
    rospy.init_node('robot_program_node')

    # initialisation
    r = My_Robot(__REQUIRED_API_VERSION__)  # instance of the robot

    # start the main program
    start_program()

Topics being recorded

"/gazebo/link_states","/sequence_move_group/status","/uwarl_a/robotnik_base_control/odom","/uwarl_a/robotnik_base_control/cmd_vel","/uwarl_a/joint_states"

ROS environment variables:

┌─(~)──────────────────────────────────────────────────────────────────────────────────────────────(arnab@arl-System-Product-Name:pts/8)─┐
└─(13:08:22)──> env | grep ROS                                                                                         1 ↵ ──(Fri,Aug04)─┘
ROS_CORE_HOSTER=LOCAL-HOSTS
ROS_SUMMIT_IN_NETWORK_IP=192.168.1.11
ROS_WAM_IN_NETWORK_IP=192.168.1.10
ROS_DECK_IN_NETWORK_IP=192.168.1.15
ROS_JX_IN_NETWORK_PARALLEL_PC_IP=192.168.1.100
ROS_EXTERNAL_PC_IN_NETWORK_IP=192.168.1.100
ROS_CATKIN_WS=/home/arnab/UWARL_catkin_ws
ROS_DISTRO=noetic
PYTHONPATH_ROS=/usr/bin/python3
ROS_IP=localhost
ROS_HOSTNAME=localhost
ROS_MASTER_URI=http://localhost:11311/
ROS_ETC_DIR=/opt/ros/noetic/etc/ros
ROS_PACKAGE_PATH=/home/arnab/UWARL_catkin_ws/src/uwarl-barrett_wam_msgs:/home/arnab/UWARL_catkin_ws/src/uwarl-barrett_wam_hw/barrett_hand_node:/home/arnab/UWARL_catkin_ws/src/multimap_server_msgs:/home/arnab/UWARL_catkin_ws/src/uwarl-multimap_server:/home/arnab/UWARL_catkin_ws/src/pilz_tutorial:/home/arnab/UWARL_catkin_ws/src/uwarl-realsense_ros/realsense2_camera:/home/arnab/UWARL_catkin_ws/src/uwarl-realsense_ros/realsense2_description:/home/arnab/UWARL_catkin_ws/src/uwarl-robotnik_msgs:/home/arnab/UWARL_catkin_ws/src/uwarl-robot_localization_utils:/home/arnab/UWARL_catkin_ws/src/uwarl-robotnik_sensors:/home/arnab/UWARL_catkin_ws/src/waterloo_steel/waterloo_steel_util/rosbag_recorder:/home/arnab/UWARL_catkin_ws/src/uwarl-realsense_ros/jx-rs4se:/home/arnab/UWARL_catkin_ws/src/uwarl-summit_xl_common/summit_xl_common:/home/arnab/UWARL_catkin_ws/src/uwarl-summit_xl_robot/summit_xl_controller:/home/arnab/UWARL_catkin_ws/src/uwarl-summit_xl_common/moveit/summit_xl_j2s6s200_moveit_config:/home/arnab/UWARL_catkin_ws/src/uwarl-summit_xl_common/moveit/summit_xl_j2s6s300_moveit_config:/home/arnab/UWARL_catkin_ws/src/uwarl-summit_xl_common/moveit/summit_xl_j2s7s300_moveit_config:/home/arnab/UWARL_catkin_ws/src/uwarl-summit_xl_common/summit_xl_localization:/home/arnab/UWARL_catkin_ws/src/uwarl-summit_xl_common/summit_xl_navigation:/home/arnab/UWARL_catkin_ws/src/waterloo_steel/waterloo_steel_interface/summit_xl_pad:/home/arnab/UWARL_catkin_ws/src/uwarl-summit_xl_common/summit_xl_perception:/home/arnab/UWARL_catkin_ws/src/uwarl-summit_xl_common/summit_xl_robot_local_control:/home/arnab/UWARL_catkin_ws/src/system_monitor:/home/arnab/UWARL_catkin_ws/src/velodyne_simulator/velodyne_description:/home/arnab/UWARL_catkin_ws/src/velodyne_simulator/velodyne_gazebo_plugins:/home/arnab/UWARL_catkin_ws/src/velodyne_simulator/velodyne_simulator:/home/arnab/UWARL_catkin_ws/src/wagon_tf_publisher:/home/arnab/UWARL_catkin_ws/src/uwarl-barrett_wam_hw/wam_node:/home/arnab/UWARL_catkin_ws/src/waterloo_steel/waterloo_steel_demo/waterloo_steel_analyzer:/home/arnab/UWARL_catkin_ws/src/waterloo_steel/waterloo_steel_viz/waterloo_steel_control:/home/arnab/UWARL_catkin_ws/src/waterloo_steel/waterloo_steel_viz/waterloo_steel_description:/home/arnab/UWARL_catkin_ws/src/waterloo_steel/waterloo_steel_viz/waterloo_steel_gazebo:/home/arnab ...