Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

I solved it on my own. Turns out that making execution_planning_duration=false means you have to remove the allowed_execution_duration_scaling and the allowed_goal_duration_margin. I had to do this because I was initially getting the error

Controller is taking too long to execute trajectory

So, replacing the goal duration and execution duration scaling parameters did the trick.