motoman controller timeout
We are using a Motoman sda10f dual-arm robot. When attempting to move either arm to a target pose, we get a timeout error: "Controller is taking to long to execute trajectory..."
The trajectory otherwise seems to be executing as expected. Changing the rosparam 'allowedexecutionduration_scaling' does not fix the problem.
Asked by GB_WPI on 2015-03-13 10:34:39 UTC
Comments
Have you tried setting " ~/execution_duration_monitoring" to false (before the system is launched)? Does the motion actually occur? What node is producing the log message you mentioned?
Asked by sedwards on 2015-03-13 10:57:57 UTC
That seems to have solved the problem. For the record, the motion was occurring but would stop after a few seconds before completing.
Asked by GB_WPI on 2015-03-13 11:21:07 UTC
Did you have the speed override at a setting lower than 100%? ROS (or more precisely, MoveIt) plans at 100%, so if the robot is not at 100%, the trajectory will take longer to execute, causing the error you posted.
Asked by gvdhoorn on 2015-03-13 11:39:18 UTC
In case you missed the topic: How do I disable execution_duration_monitoring ?
Asked by VictorLamoine on 2015-03-14 06:09:28 UTC