The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
It really depends on what controller manager you are using in MoveIt. If you are using the moveit_simple_controller_manager plugin, then it basically ignores the feedback entirely, and only uses the result message. The move_group node itself will preempt the controller if it is taking too long (so that will always happen, regardless of the controller manager plugin selected).
Normally, the controller would actually stop itself if the error gets too high on a particular joint. "too high" would typically be specified in the action goal, in the goal_tolerance and path_tolerance vectors, but this may not be filled in by MoveIt.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
