Failed path planning Moveit+RIVZ

edit

I am trying to learn of to do path planning with RVIZ+MoveIt for a UR5 arm. For now I'm trying to simulate only. I use Gazebo4, RVIZ+MoveIt and universal_robot packages that I built from source for ROS Indigo.

I run these 3 command in 3 different terminal, as written in the universal_robot's README :

roslaunch ur_gazebo ur5.launch

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

I have several issues and I don't really now what is the origin. I tried to do path planning from RVIZ, on a simple path from home to up position and from up to home. Sometimes I have "Failed" message in the GUI, sometimes it works. But most of the time it didn't. I struggle to find proper documentation to use the motion planning panel

I have the following error messages

Terminal #2 :

[ WARN] [1430368642.447147735, 185.001000000]: Controller  failed with error code PATH_TOLERANCE_VIOLATED
[ WARN] [1430368642.447324161, 185.001000000]: Controller handle  reports status ABORTED

Terminal #3:

 [ WARN] [1430368548.820347974, 107.047000000]: Fail: ABORTED: Motion plan was found but it seems to be invalid (possibly due to postprocessing). Not executing.

If I use the Moveit command-line commander

rosrun moveit_commander moveit_commander_cmdline.py

And try to "go goal" with goal from "rec c" then modifiy joint angles. Sometimes it works, but I still have this bug sometimes :

manipulator> go goal
[ INFO] [1430370662.457107039, 2110.983000000]: ABORTED: Solution found but controller failed during execution
Failed while moving to goal

I run it in VirtualBox and I can have 8 FPS in RVIZ.

EDIT : I notice than even if I ask for simple joint movement

  group.set_joint_value_target([1.5, 0, 1.5, 0, 0, 0])
  group.go()

I have the error

[ WARN] [1430368642.447147735, 185.001000000]: Controller  failed with error code PATH_TOLERANCE_VIOLATED