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Failed path planning Moveit+RIVZ

asked 2015-04-30 00:13:40 -0600

Arowana gravatar image

updated 2015-04-30 04:39:54 -0600

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
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Comments

Are you using the pkg from apt-get, or github? If you were the one who created the moveit_config package you're using, I would say you just have to create controller configs (see this.

130s gravatar image130s ( 2015-04-30 01:48:09 -0600 )edit
1

from apt-get for all of them except universal_robot packages, I build it from indigo branch of the git repo, The arm move most of the time, it means that the controller is configured. I have the errors messages but not always. Moreover I don't have any message related to wrong controller config.

Arowana gravatar imageArowana ( 2015-04-30 02:09:14 -0600 )edit

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answered 2015-05-07 04:58:02 -0600

Arowana gravatar image

I moved to a powerful PC. I installed Ubuntu 14.04 and all needed packages. The problem is gone. Seems that the controller was not able to compute fast enough, because before it was very slow in VM.

I am not sure of why this thing happened.

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Is there no way to just slow down the execution of the planned trajectory so as to give the computer more time for the calculations? I ran into the same kind of issues and don't really have the opportunities to switch over to a more powerful computer...

budekatude gravatar imagebudekatude ( 2017-07-12 04:24:55 -0600 )edit

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Asked: 2015-04-30 00:13:40 -0600

Seen: 3,613 times

Last updated: May 07 '15