robot_arm not moving in Moveit but is moving in Gazebo

asked 2016-11-01 13:09:32 -0500

Josephlin
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updated 2016-11-01 13:15:21 -0500

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

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answered 2016-11-01 18:21:16 -0500

JoshMarino
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You need to remapic the topic /joint_states to /robot/joint_states in move_group.launch, inside the move_group node. I had this same problem as well and this worked just fine for me. You will need to change back to /joint_states though when running MoveIt! without the Gazebo simulation.

As for the other error, I just ignore it since the end position is nearly identical to the MoveIt! trajectory goal. Forgot where in the MoveIt! Google groups this was mentioned, but I looked into it as well.

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Thank you very much! I also solve the problem too! If you have the any idea or answer about GOAL_TOLERANCE_VIOLATED. Please let me know! you can add a comment in this Question! or send the email.