When I use Universal_robot pkg and moveIt to control real UR5. The UR5 can't move to the desired pose.It stopped at a pose which is belong to the trajectory.My steps of operation are as follows

1."roslaunch urbringup urbringup.launch robot_ip:=192.168.1.160"which appears the connection is correct."The action server for this driver has been started"

2.Launch my moveit config file"roslaunch ur5moveitconfigmyself movegroup.launch".The config file is generated by moveitsetupassistant.and I add controller.yaml and ur5moveitcontroller_manager.launch.xml

3."rosrun rviz rviz"

4."rosrun lenode moveitikdemo.py" The file moveitik_demo.py is shown below.

After I run the moceitikdemo.py. The UR5 begins to move toward the desired pose.But it came to a sudden stop in the journey .and can't attach to the desired pose. In the first terminal(launching the ur_bringup.launch),it appead that

"[WARN] [WallTime: 1482755354.085866] Trajectory time exceeded and current robot state not at goal, last point required [WARN] [WallTime: 1482755354.086135] Current trajectory time: 1.92857694626, last point time: 1.913815417 [WARN] [WallTime: 1482755354.086456] Desired: [1.5887987717921845, -0.0001816342668607831, 0.0009067557118833066, -0.0009527113572694361, -0.0007133560068905353, -4.268342442810536e-05] actual: [1.6035473346710205, -0.6335380713092249, 0.2663407325744629, -0.233499828969137, -0.04164582887758428, -0.24181014696230108] velocity: [-0.003962783608585596, 0.1539221853017807, -0.06261198222637177, 0.06792659312486649, 0.009731191210448742, 0.060160811990499496] [2016-12-26 20:29:15.983806] Out: Braking"

Maybe the reason is the time of the trajectory is limited. and I tried many times with the same peogram (the desired pose is different).The trajectory time is no more than 3 seconds. But I don't konw how to modify the limit of trajectory time.

The moveitikdemo.py is as follows

import rospy, sys import moveitcommander from moveitmsgs.msg import RobotTrajectory from trajectory_msgs.msg import JointTrajectoryPoint

from geometrymsgs.msg import PoseStamped, Pose from tf.transformations import eulerfromquaternion, quaternionfrom_euler

class MoveItDemo:

   def __init__(self):
        # Initialize the move_group API
    moveit_commander.roscpp_initialize(sys.argv)

    rospy.init_node('moveit_demo')

    # Initialize the move group for the right arm
    right_arm = moveit_commander.MoveGroupCommander('right_arm')

    # Get the name of the end-effector link
    end_effector_link = right_arm.get_end_effector_link()

    # Set the reference frame for pose targets
    reference_frame = 'desk '

    # Set the right arm reference frame accordingly
    right_arm.set_pose_reference_frame(reference_frame)

    # Allow replanning to increase the odds of a solution
    right_arm.allow_replanning(True)

    # Allow some leeway in position (meters) and orientation (radians)
    right_arm.set_goal_position_tolerance(0.01)
    right_arm.set_goal_orientation_tolerance(0.05)

    # Start the arm in the "resting" pose stored in the SRDF file
    right_arm.set_named_target('pose_2')
    right_arm.go()
rospy.sleep(2)

target_pose = PoseStamped()
target_pose.header.frame_id = reference_frame
    target_pose.header.stamp = rospy.Time.now()     
    target_pose.pose.position.x = 0.5
    target_pose.pose.position.y = -0.5
    target_pose.pose.position.z = 0.500
    target_pose.pose.orientation.x = 0.0
    target_pose.pose.orientation.y = 0.0
    target_pose.pose.orientation.z = 0.0
    target_pose.pose.orientation.w = -1.0

    # Set the start state to the current state
    right_arm.set_start_state_to_current_state()

    # Set the goal pose of the end effector to the stored pose
    right_arm.set_pose_target(target_pose, end_effector_link)

    # Plan the trajectory to the goal
    traj = right_arm.plan()

    # Execute the planned trajectory
    right_arm.execute(traj)

    # Pause for a second
    rospy.sleep(100)

    # Exit MoveIt
moveit_commander.os._exit(0)

if name == "main": MoveItDemo()

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enter code here