robot_arm not moving in Moveit but is moving in Gazebo
HI! everyone! I have a robot model,and i want to get the joint_trajectory form moveit!,I use the Gazebo to publish the arm controller. Everything looks good,but When i set the goal and use plan and excute.Robot_arm not moving in Moveit but is working in Gazebo.
I think it is the problem about the topic /joint state did not receive anything.But I have another topic named robot/joint state published by arm controller or gazebo. I already saw the same problem but i still did not know how to solve this problem.
There have another problem after moveit compute the trajectory. Moveit always showed the warning : Controller /utlr_arm_controller failed with error code GOAL_TOLERANCE_VIOLATED Controller handle utl/r_arm_controller reports status ABORTED
In some articles tell me add the <param name="allowed_goal_duration_margin" value="5.0"/>
,but it did not work!
Please help me to solve these two problems! and thanks for any help! I can provide any file you need to check! attach is the picture about the problem:picture